Research On Aircraft Flight Attitude Control Based On Active Disturbance Rejection Control

Active Disturbance Rejection Control(ADRC) technique is a new practical control technique, which absorbs the achievements of modern control theory, carries forward and enriches the essence of PID control, and has developed a new type of special nonlinear effect. The technique has been studied and applied in many areas, and has made remarkable achievement. ADRC technique does not depend on the precise mathematical model of the controlled object and does not need to be aware of the external disturbance model, and it has strong robustness. Therefore, the flight attitude control research based on ADRC technique has great significance.In this work, a pitching attitude controller and a rolling attitude controller of Cessna 182 p shrinkage ratio Unmanned Aerial Vehicle(UAV) were respectively designed based on the ADRC technology. After establishing the six-degrees-of-freedom flight dynamic model on the basis of Cessna182 p shrinkage UAV, the ADRC parameters were optimized designed with genetic algorithm through the simulation experiment. According to the pitch and roll ADRC controller parameters, which came from simulation and optimization, and through the secondary development of the open source autopilot APM, the pitch and roll angle controller based on the ADRC technology were realized in the fixed wing firmware of APM. A hardware-in-loop simulation verifying experiment for the ADRC pitching autopilot and rolling autopilot was carried out. Combined with FlightGear, which is a six-degrees-of-freedom nonlinear flight simulator and visualization system, on the basis of the hardware-in-loop simulation, an actual flight test certifying experiment was conducted. The simulation results and flight test results showed that pitching controller and rolling controller, which were based on ADRC technology, had good control effect. Not only pitch angle and roll angle could fastly track the command signal, but also both the overshoot and steady state errors were very small. All the results show that ADRC controller has good robustness.