Improved Active Disturbance Rejection Control for Multibody Folding Wing Under Variable Loads

doi:10.16183/j.cnki.jsjtu.2024.208

Abstract

Abstract:

To address the issue of multi-body folding wings being subjected to aerodynamic load changes, gravity reversal, and external disturbances during coordinated tilting, an improved active disturbance rejection control (ADRC) strategy based on the combination of hyperbolic tangent function and phase compensation is proposed. Using the Lagrange equation, the aerodynamic load on the unit wing is applied to the center of mass, and the offset of the gravity term with the attitude angle of the body is provided, thereby establishing the dynamic model of the multi-body folding wing. An improved ADRC controller is designed to track the desired angular trajectory of the folding wing, and appropriate controller parameters are selected to suppress joint vibration. The simulation results show that the improved ADRC method can effectively achieve trajectory tracking and joint vibration suppression under variable load conditions, and it demonstrates smaller tracking errors and better dynamic performance and robustness when subjected to external disturbances.

Key words: multi-body folding wing, Lagrange modeling, variable load, active disturbance rejection control (ADRC)

CLC Number:

HAN Yifan, CHEN Boyi, LIU Yanbin, CHEN Jinbao. Improved Active Disturbance Rejection Control for Multibody Folding Wing Under Variable Loads[J]. Journal of Shanghai Jiao Tong University, 2024, 58(11): 1762-1771.

Figures/Tables 10

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