摘要
首先建立了四旋翼无人机的非线性数学模型。然后针对该无人机数学模型的不确定性和非线性,采用动态逆(DI)和定量反馈理论(QFT)相结合的方法设计了该无人机姿态回路的鲁棒控制器。应用动态逆方法处理对象的非线性,将系统等效为一个解耦但存在不确定性的线性对象。鉴于动态逆控制在气动参数摄动的情况下不能满足控制要求的事实,设计了QFT控制器,QFT控制器能克服对象的参数不确定性,保障系统的鲁棒性。仿真结果表明,在气动数据变化±20%的范围内,DI/QFT控制器实现了对姿态角的精确控制。
A nonlinear dynamic model for a quad-rotor unmanned helicopter is established. Considering the uncertainness and nonlinearity of the model, a method combining Dynamic Inversion （ DI ） with Quantitative Feedback Theory （QFT） is used to design a robust controller for attitude loop of the unmanned helicopter. The dynamic inversion method is used to treat the nonlinearity, which makes the system equivalent to a decoupled and uncertain linear object. Since dynamic inversion controller can not satisfy the control requirement when perturbation exists in pneumatic parameter, a QFT controller is designed. The QFF controller can overcome the uncertainties and ensure the robust stability of system. Simulation result showed that the DI/QFT controller can implement precise control to the attitude angle when pneumatic data varies within 20%.
出处
《电光与控制》
北大核心
2008年第12期68-71,共4页
Electronics Optics & Control
关键词
四旋翼无人机
飞行控制
动态逆
定量反馈理论
鲁棒控制
quad-rotor Unmanned Helicopter
flight control
feedback theory
robust control dynamic inversion
quantitative
