摘要
为了研究多旋翼飞行器的位姿控制,以开源硬件pixhawk搭建的四旋翼飞行器作为研究对象,建立其位置和姿态运动学和动力学模型。在简化系统模型的基础上,以姿态控制作为位置控制的内回路,位置控制作为外环主回路,设计双闭环串级模糊PID控制器。在Matlab/Simulink平台上对系统模型进行仿真验证。仿真实验结果表明,模糊PID控制器比PID控制器具有动态响应更快、控制稳定性更好的优势。该模型和模糊PID控制器能有效实现飞行器的位置控制。
In order to study the position and attitude control of quadcopter,the paper studied Microquadcopter with PIXHAWK as hardware platform and established its position and attitude kinematics and dynamics.Based on simplification of the model,the double loop cascade fuzzy PID controller was designed with position control as the main loop,and the attitude control as the inner loop of position control.The model was simulated by Matlab/Simulink software.The result indicates that the fuzzy PID controller has better dynamic response and better control stability than the PID controller.Therefore,the model and fuzzy PID controller can effectively realize the position control of quadcopter.
出处
《湖北工业大学学报》
2016年第5期18-21,35,共5页
Journal of Hubei University of Technology
