四旋翼ADRC控制器仿真，已调好已经生成C语言了，要放到单片机运行的伙伴可以拿去研究
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四旋翼ADRC控制器仿真，已调好已经生成C语言了，要放到单片机运行的伙伴可以拿去研究。 <link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90239725/2/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90239725/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">四旋翼<span class="_ _0"> </span><span class="ff2">ADRC<span class="ff3">（</span>Active Disturbance Rejection Control<span class="ff3">）</span></span>控制器是一种有效的控制算法<span class="ff3">，</span>可</div><div class="t m0 x1 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">以实现对四旋翼无人机的精确控制<span class="ff4">。</span>在仿真过程中<span class="ff3">，</span>通过合理调整参数<span class="ff3">，</span>我们成功实现了<span class="_ _0"> </span><span class="ff2">ADRC<span class="_ _1"> </span></span>控制</div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">器的仿真<span class="ff3">，</span>并将其转化为<span class="_ _0"> </span><span class="ff2">C<span class="_ _1"> </span></span>语言代码<span class="ff3">，</span>以便将其应用于实际的单片机运行中<span class="ff4">。</span>本文将对四旋翼<span class="_ _0"> </span><span class="ff2">ADRC</span></div><div class="t m0 x1 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">控制器的仿真过程以及<span class="_ _0"> </span><span class="ff2">C<span class="_ _1"> </span></span>语言代码的生成进行详细介绍<span class="ff4">。</span></div><div class="t m0 x1 h2 y5 ff1 fs0 fc0 sc0 ls0 ws0">首先<span class="ff3">，</span>我们需要明确四旋翼<span class="_ _0"> </span><span class="ff2">ADRC<span class="_ _1"> </span></span>控制器的工作原理<span class="ff4">。<span class="ff2">ADRC<span class="_ _1"> </span></span></span>控制器是一种基于扰动观测的控制方法</div><div class="t m0 x1 h2 y6 ff3 fs0 fc0 sc0 ls0 ws0">，<span class="ff1">其主要思想是通过对系统中的各种扰动进行观测和估计</span>，<span class="ff1">并通过控制器对这些扰动进行补偿</span>，<span class="ff1">从而</span></div><div class="t m0 x1 h2 y7 ff1 fs0 fc0 sc0 ls0 ws0">实现对系统的精确控制<span class="ff4">。</span>在四旋翼无人机中<span class="ff3">，</span>由于外界环境的不确定性以及四旋翼自身的动力学特性</div><div class="t m0 x1 h2 y8 ff3 fs0 fc0 sc0 ls0 ws0">，<span class="ff1">存在各种扰动</span>，<span class="ff1">如风力<span class="ff4">、</span>气动力以及负载的变化等<span class="ff4">。<span class="ff2">ADRC<span class="_ _1"> </span></span></span>控制器通过精确观测和估计这些扰动</span>，</div><div class="t m0 x1 h2 y9 ff1 fs0 fc0 sc0 ls0 ws0">采取相应措施进行补偿<span class="ff3">，</span>从而使得四旋翼无人机能够稳定飞行并实现精确的姿态控制<span class="ff4">。</span></div><div class="t m0 x1 h2 ya ff1 fs0 fc0 sc0 ls0 ws0">在仿真过程中<span class="ff3">，</span>我们首先需要建立四旋翼无人机的动力学模型<span class="ff4">。</span>该模型需要包含四旋翼无人机的运动</div><div class="t m0 x1 h2 yb ff1 fs0 fc0 sc0 ls0 ws0">方程<span class="ff4">、</span>扰动模型以及传感器模型等<span class="ff4">。</span>通过对模型中的各种参数进行合理的设定<span class="ff3">，</span>我们可以模拟出真实</div><div class="t m0 x1 h2 yc ff1 fs0 fc0 sc0 ls0 ws0">环境中的各种扰动<span class="ff3">，</span>并对<span class="_ _0"> </span><span class="ff2">ADRC<span class="_ _1"> </span></span>控制器的性能进行评估<span class="ff4">。</span>在仿真过程中<span class="ff3">，</span>我们将<span class="_ _0"> </span><span class="ff2">ADRC<span class="_ _1"> </span></span>控制器的输入</div><div class="t m0 x1 h2 yd ff1 fs0 fc0 sc0 ls0 ws0">与四旋翼无人机的姿态<span class="ff4">、</span>位置等状态进行反馈调节<span class="ff3">，</span>从而实现对四旋翼无人机的控制<span class="ff4">。</span>通过调整控制</div><div class="t m0 x1 h2 ye ff1 fs0 fc0 sc0 ls0 ws0">器的参数<span class="ff3">，</span>我们可以评估不同参数对控制性能的影响<span class="ff3">，</span>并确定最优的参数组合<span class="ff4">。</span></div><div class="t m0 x1 h2 yf ff1 fs0 fc0 sc0 ls0 ws0">在仿真过程中<span class="ff3">，</span>我们通过对四旋翼<span class="_ _0"> </span><span class="ff2">ADRC<span class="_ _1"> </span></span>控制器的调试和优化<span class="ff3">，</span>最终得到了满足要求的仿真结果<span class="ff4">。</span>通</div><div class="t m0 x1 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0">过对控制器的输出进行分析<span class="ff3">，</span>我们可以看到四旋翼无人机在不同工况下的姿态控制性能良好<span class="ff3">，</span>能够实</div><div class="t m0 x1 h2 y11 ff1 fs0 fc0 sc0 ls0 ws0">现稳定飞行并迅速响应外界扰动<span class="ff4">。</span>同时<span class="ff3">，</span>我们还将仿真结果转化为<span class="_ _0"> </span><span class="ff2">C<span class="_ _1"> </span></span>语言代码<span class="ff3">，</span>以便将<span class="_ _0"> </span><span class="ff2">ADRC<span class="_ _1"> </span></span>控制器</div><div class="t m0 x1 h2 y12 ff1 fs0 fc0 sc0 ls0 ws0">应用于实际的单片机运行中<span class="ff4">。</span></div><div class="t m0 x1 h2 y13 ff1 fs0 fc0 sc0 ls0 ws0">对于需要将四旋翼<span class="_ _0"> </span><span class="ff2">ADRC<span class="_ _1"> </span></span>控制器应用于实际单片机运行的伙伴<span class="ff3">，</span>我们提供了生成的<span class="_ _0"> </span><span class="ff2">C<span class="_ _1"> </span></span>语言代码<span class="ff4">。</span>这些</div><div class="t m0 x1 h2 y14 ff1 fs0 fc0 sc0 ls0 ws0">代码可以直接用于单片机的开发环境中<span class="ff3">，</span>并通过与传感器的数据交互<span class="ff3">，</span>实现对四旋翼无人机的精确控</div><div class="t m0 x1 h2 y15 ff1 fs0 fc0 sc0 ls0 ws0">制<span class="ff4">。</span>我们希望这些代码能够帮助伙伴们更好地理解<span class="_ _0"> </span><span class="ff2">ADRC<span class="_ _1"> </span></span>控制器的实现原理<span class="ff3">，</span>并在实际应用中取得良</div><div class="t m0 x1 h2 y16 ff1 fs0 fc0 sc0 ls0 ws0">好的效果<span class="ff4">。</span></div><div class="t m0 x1 h2 y17 ff1 fs0 fc0 sc0 ls0 ws0">综上所述<span class="ff3">，</span>本文通过对四旋翼<span class="_ _0"> </span><span class="ff2">ADRC<span class="_ _1"> </span></span>控制器的仿真和<span class="_ _0"> </span><span class="ff2">C<span class="_ _1"> </span></span>语言代码的生成<span class="ff3">，</span>介绍了该控制器在四旋翼无</div><div class="t m0 x1 h2 y18 ff1 fs0 fc0 sc0 ls0 ws0">人机中的应用<span class="ff4">。</span>通过合理调整控制器的参数<span class="ff3">，</span>并将其应用于实际的单片机运行中<span class="ff3">，</span>我们成功实现了对</div><div class="t m0 x1 h2 y19 ff1 fs0 fc0 sc0 ls0 ws0">四旋翼无人机的精确控制<span class="ff4">。</span>我们希望这些工作能够对相关领域的研究和开发提供一定的参考和借鉴价</div><div class="t m0 x1 h2 y1a ff1 fs0 fc0 sc0 ls0 ws0">值<span class="ff4">。</span></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>