无人飞行器柔性舵面自抗扰控制

Abstract
Figure/Table
References
Related Citation (13)

Download: PDF (924 KB) HTML (1 KB)
Export: BibTeX | EndNote (RIS)

Abstract In the design of unmanned aerial vehicles, the control surfaces and servos are connected via a flexible linkage device. When traditional proportional integral differential (PID) methods are used for control, mismatches between the parameters and the system model can cause control surface flutter, and parameter tuning is challenging, resulting in poor adaptability to different scenarios. To address this issue, this paper establishes a dual-inertia system mathematical model for the electric servo system of unmanned aerial vehicles and analyzes the causes of control surface flutter. An extended state observer is employed to estimate and compensate for the total disturbance of the servo system in real time. A nonlinear state observer for state error is designed, and an engineering-practical active disturbance rejection controller is developed. By upgrading the control algorithm of the servo system product and validating it through bench tests, the response results of the improved servo system are obtained. The results show that the designed controller not only rapidly tracks position commands but also avoids resonance, thereby eliminating control surface flutter.

Key words： flexible connection flutter dual-inertia system extended state observer total disturbance nonlinear

Received: 22 December 2025

	Service

	E-mail this article
	Add to my bookshelf
	Add to citation manager
	E-mail Alert
	RSS
	Articles by authors
	GAO Huadong
	HU Yiyue
	ZHANG Hao

Cite this article:

GAO Huadong,HU Yiyue,ZHANG Hao. Flexible rudder surface of unmanned aerial vehicle based on extended state observer of active disturbance rejection controller[J]. Electrical Engineering, 2026, 27(6): 72-76.

URL:

https://dqjs.cesmedia.cn/EN/Y2026/V27/I6/72

[1] 张强, 苏伟杰, 王厚浩, 等. 基于自抗扰的无人机舵系统大惯量柔性颤振抑制[J]. 电子机械工程, 2023, 39(6): 61-64.
[2] 万江坤, 孙延超, 宋鹏宇, 等. 弹性伺服系统高阻尼位置控制[J]. 电气传动, 2025, 55(1): 3-8.
[3] 李运德, 张淼. 无刷直流电动机的自抗扰控制设计[J]. 微特电机, 2011, 39(9): 39-41, 51.
[4] 丁有爽, 肖曦. 伺服系统柔性负载建模方法研究[J]. 中国电机工程学报, 2016, 36(3): 818-827.
[5] 东野亚兰, 杨淑英, 王奇帅, 等. 基于增强型扩张状态观测器的永磁同步电机低抖振高抗扰二阶终端滑模电流控制[J]. 电工技术学报, 2024, 39(8): 2434-2448.
[6] 刘钧圣, 刘万刚, 张延风, 等. 某战术导弹舵面异常高频抖动机理分析[J]. 弹箭与制导学报, 2022, 42(2): 50-55, 61.
[7] 伍泊錞, 孙晓, 雷张文, 等. 基于扩张状态观测器的PMLSM滑模调速控制策略[J]. 工业控制计算机, 2023, 36(2): 63-65, 68.
[8] 兰志勇, 张丽雨, 李福, 等. 永磁同步电机控制技术综述[J]. 电气技术, 2025, 26(8): 1-10.
[9] 刘栋良, 赵金洋, 董旭辉, 等. 扩展卡尔曼观测器下的永磁同步电机负载扰动抑制研究[J]. 电工技术学报, 2025, 40(8): 2488-2503.
[10] 杨长山, 张永昌, 蒋涛. 基于扩张状态观测器的级联无刷双馈电机并网同步和发电鲁棒预测电流控制[J]. 电工技术学报, 2023, 38(22): 6094-6103.
[11] 田芳, 周孝信, 于之虹. 基于卷积神经网络的电力系统小干扰稳定评估与预防控制[J]. 电气技术, 2025, 26(3): 1-6, 14.
[12] 周世炯, 李耀华, 史黎明, 等. 分段供电永磁直线同步电机的新型滑模速度控制策略[J]. 电工技术学报, 2025, 40(8): 2464-2476.
[13] 于林鑫, 袁昕, 丁国华, 等. 基于模型预测锁相环的永磁同步电机转子位置估计方法[J]. 电气技术, 2024, 25(8): 18-26.
[14] 刘思诺, 武志涛. 基于改进经验模态分解的直线电机伺服系统迭代学习控制[J]. 电气技术, 2024, 25(4): 32-37.
[15] 黄健伟, 覃泽龙, 徐新, 等. 基于ESO的无人机舵机系统控制策略研究[J]. 兵器装备工程学报, 2023, 44(7): 257-263.
[16] 查启繁, 李刘杰, 吕国森, 等. 基于ADRC的尾座式无人机姿态控制[J]. 兵器装备工程学报, 2024, 45(增刊1): 340-344.
[17] 周毅, 李萌, 郑坤, 等. 基于NSGA-Ⅱ优化的电动舵机自抗扰控制器改进设计[J]. 船海工程, 2022, 51(2): 19-23.