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在飞行器的控制中,角速率反馈可以提高控制系统的动态特性,但速率陀螺价格昂贵,且随运行时间的增加其性能会不断下降.对此本文提出了一种基于滤噪微分器的四旋翼飞行器滑模变结构控制律.该控制律使用的反馈信号仅由角度传感器得到,而无需角速率传感器.控制律中的角速率信息由王新华等设计的有限时间收敛的微分器得到.本文通过数学证明,给出了当测量信号中含有噪声时该微分器的理论跟踪误差上界.仿真以及对四旋翼飞行器滚转姿态的控制实验验证了微分器的抑制噪声作用和控制算法可行性.
In the aircraft control, the angular velocity feedback can improve the dynamic characteristics of the control system, but the rate gyro is expensive, and its performance will continue to decline with the increase of running time.This paper presents a filter based on the differential quadrifilar The sliding mode variable structure control law of aircraft is used.The feedback signal used by the control law is obtained only by the angle sensor without the need of angular rate sensor.The angular rate information in the control law is obtained by the finite time convergent differentiator designed by Wang Xinhua et al.Through mathematics It is proved that the upper bound of the theoretical tracking error of the differentiator is given when the measured signal contains noise.The simulation and the experiment of the control of the roll attitude of the quadrotor have been carried out to verify the effect of the noise suppressor and the feasibility of the control algorithm.