摘要
相对其他无人飞行器平台,四旋翼飞行器有其独特的优势,因而受到广泛的关注。位置跟踪控制对四旋翼飞行器的应用非常重要。在阐述四旋翼飞行器的飞行原理和操控机制的基础上,研究了其动力学模型,并提出了一种简化的数学模型。四旋翼飞行器是欠驱动耦合系统,为了实现系统解耦并得到清晰的控制回路,设计了多回路PID控制方案,其控制目标是位置和偏航角,而姿态角和横滚角由位置误差调节。最后,通过仿真验证了控制方法的有效性。
Quadrotor vehicles have attracted more and more interests for their distinct advantages over other unmanned air vehicles（UAVs）. Position tracking control is very important for the application of the quadrotor vehicle. In this paper, the flight theory and manipulative mechanism of the quadrotor vehicle were described. The dynamic model was studied, and a simplified mathematical model was obtained. The quadrotor is a coupled under-actuated rotorcraft. In order to decouple the dynamic system and achieve clear control loops, a multi-loop PID control scheme was employed. The control goal is to make the position and yaw angle stabilized at the reference values, while the pitch and roll angles were regulated by the position errors. At last, a simulation was carried out which verified the effectiveness of the control strategy.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2012年第4期455-458,共4页
Journal of Chinese Inertial Technology
基金
装备预研基金(9140A20020610JW03)
