Design And Parameter Optimization Of Active Disturbance Rejection Control System For Quadrotor

In recent years,the quadrotor has been greatly developed and promoted in military and civilian applications due to its vertical take-off and land,hovering in a specified location and easy control.However,as a multi-variable,strongly coupled,under-driven nonlinear system,the quadrotor is susceptible to interference from the external environment during flight.In order to ensure the stability and reliability of the control system,and to complete the given tasks accurately and quickly,it is of great significance to study the controller design of the quadrotor.In this thesis,the position controller and attitude controller are designed respectively,and the parameter selection of the controller is studied.The main contents include the following aspects:The working principle of the quadrotor is analyzed,and its nonlinear mathematical model is established and rationally simplified.According to the established dynamic equations of the quadrotor,PD position controller and active disturbance attitude control are designed respectively.The extended state observer is studied,based on the parameter empirical formula given by Professor Han Jingqing,the Butterworth filter without delay is added and the stability of the system is proved.The model is built for simulation experiment to verify the correctness of the designed controller.Considering the various parameters of the active disturbance rejection controller and the difficulty of manual tuning,the optimization algorithm is combined with it,and the optimization results are analyzed and compared.In order to solve the single problem of selecting the inertia weight in the particle swarm optimization,improve the diversity of particles and speed up the optimization.An adaptive mechanism is introduced to dynamically modify the inertia weight.The simulation results show that the controller optimized by the adaptive particle swarm optimization has smaller overshoot and shorter adjustment time.Finally,the prototype is built for debugging,the trajectory tracking and fixed-point hovering experiment of quadrotor was carried out using the motion capture system Vicon to verify the engineering feasibility and control effect of the active disturbance rejection controller.Adding wind disturbance,a group of indoor flight comparison experiments are designed to further verify the anti-interference ability and robust performance of the controller.