参数跟踪鲁棒观测器的四旋翼无人机抑振设计

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振动与冲击 ›› 2024, Vol. 43 ›› Issue (9) : 60-68.

论文

王志豪1,文新宇1,曹松银2,周亮亮3

作者信息 +

Vibration suppression design of quadcopter drone with parameter tracking robust observer

WANG Zhihao1, WEN Xinyu1, CAO Songyin2, ZHOU Liangliang3

Author information +

文章历史 +

摘要

本文提出一种针对四旋翼无人机振动的参数跟踪鲁棒观测器设计方法。首先构造辅助滤波器激励出振动特性,同时调节其参数降低噪声对辅助状态变量的影响,将主动振动抑制转化为与频率有关的常值参数估计问题,避免了估计值之间的耦合和冗余参数的运算。然后设计频率参数观测器和跟踪器的级联结构准确估计振动信息。在此基础上,通过辅助变量和频率参数对振动进行重构,设计前馈补偿的控制方法实现了系统的振动抑制。所设计的观测器不仅具有较好的鲁棒性,还避免了传统跟踪器跟踪时变信号带来的相位滞后。最后通过李雅普诺夫定理对系统的性能进行了分析,仿真算例验证了该方法的有效性。

Abstract

The parameter tracking robust observer design method is proposed for a class of quadrotor UAV subject to vibration. Firstly, the auxiliary filter is constructed to excite the vibration properties. Meanwhile, filter parameters are adjusted to reject the adverse effect of noise acting on the auxiliary state variables. The active vibration suppression can be simplified to the constant parameter estimation problem, which avoids the coupling of the estimated values and the operation of redundant parameters. Then a cascade structure of frequency parameter observer and tracker is designed to accurately estimate the vibration information. According to the above analysis, the compensation signal is reconstructed by auxiliary variables and frequency parameters. As a result, satisfactory vibration suppression performance can be achieved in combination with the controller. The designed observer has strong robustness without the phase lag caused by the time varying signal, which is often occurred in the conventional tracker. Finally, the performance of the system is demonstrated using the Lyapunov theorem, and the simulations are used to illustrate the effectiveness of the proposed method.

导出引用

王志豪1,文新宇1,曹松银2,周亮亮3. 参数跟踪鲁棒观测器的四旋翼无人机抑振设计[J]. 振动与冲击, 2024, 43(9): 60-68

WANG Zhihao1, WEN Xinyu1, CAO Songyin2, ZHOU Liangliang3. Vibration suppression design of quadcopter drone with parameter tracking robust observer[J]. Journal of Vibration and Shock, 2024, 43(9): 60-68

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