基于ADRC的小型攻击无人机位姿控制模型与稳定性分析OA

Based on the Newton-Euler theorem,this paper constructs a control model for small attack Unmanned Aerial Vehicles(UAV),integrating the Dryden turbulence wind field and recoil force models.Position and attitude controllers are designed using Active Disturbance Rejection Control(ADRC)theory.Comparative experiments with traditional PID control demonstrate that the ADRC controller possesses stronger anti-disturbance capability and faster dynamic response under wind disturbances and step disturbances.Stability factor analysis indicates that:with increased firing angle,the maximu·m yaw and pitch angles gradually decrease,while the maximum roll angle exhibits a nonlinear variation of initial increase followed by decrease;with increased firing frequency,the pitch angle disturbance presents a superposition effect,aggravating attitude deviation.The research results provide a new approach for high-precision stability control of small attack UAV in complex battlefield environments,and have important application value in military reconnaissance,precision strike and other fields.