作　　者： (张贵峰）; (陈晓）; (崔彦召）; (刘胜南）;

机构地区： 南方电网科学研究院有限责任公司,广州510080

出　　处： 《计算机测量与控制》 2017年第9期216-218,224,共4页

摘　　要： 随着无人机民用化的持续加速,其应用场景越来越复杂,自主避障技术成为拓宽应用领域的技术瓶颈;自主避障技术的突破,无疑成为无人机更大规模应用必要条件;自抗扰控制器技术,是发扬PID控制技术的精髓并吸取现代控制理论思想归纳探索而来;自抗扰控制器具有的不依赖被控对象精确模型、算法简单、参数易于调节的特点,使其适合作为无人机自主避障的控制算法来应用;针对无人机避障中位置给定阶跃信号幅值较大且幅值不定的情况,传统PID控制器快速性不能很好满足要求且需要重复调节参数,而自抗扰控制器则具有更好的鲁棒性;为了更好的实现无人机自主避障,设计了基于自抗扰控制器的外环位置控制器,对基于自抗扰的无人机自主避障系统进行仿真和实验研究,并与传统双环PID控制器进行对比分析,结果证明外环控制器采用自抗扰控制器的无人机自主避障系统的可行性。 Along with the acceleration of the UAV （unmanned aerial vehicle） for civil use, the spectacle for UAV is more and more corn plex, autonomous obstacle avoidance technology becomes the bottleneck for broaden use field. The break-through of autonomous obstacle avoidance technology becomes the prerequisite of cosmically use of the UAV. ADRC （Auto/active disturbances rejection controller） technology derives from the marrow of PID controller and the conclusion of modern control theory. The characteristics which the Af）RC has, no de pendence on the accurate model of the controlled object, the algorithm is simple and the parameters are easy to adjust, makes it suitable for UAV autonomous obstacle avoidance control algorithm. Aiming at the position given by the UAV obstacle avoidance is order jump signal, and the amplitude is large and uncertain, the traditional PID controller can not meet the requirements of rapid. The parameters of traditional PID controller need repeat modulated. The ADRC has better robustness. In order to better realize UAV autonomous obstacle avoidance, the position controller based on ADRC is designed. Doing simulation and experimental research on autonomous obstacle avoidance system of UAV based on ADRC. Compared with traditional double PID loop controller, the results demonstrate the feasibility of the autonomous ob stacle avoidance system of UAV based on ADRC.

关 键 词： 无人机 自主避障 自抗扰控制器