摘要
针对三轴飞行器的机械结构和飞行原理分析了其系统物理力矩,利用牛顿-欧拉方法推导了其机体非线性动力学方程。为了提高三轴飞行器的建模精度和系统完整性,应用了基于Simscape的物理系统建模方法构建了三轴飞行器的机体以及动力系统模型。在此基础上设计了串级PID姿态控制器,并对所建模型以及控制器进行仿真实验。仿真结果表明,所设计的飞行器能够较好地实现稳定悬停和指令跟踪,满足系统的控制性能要求。
This paper analyzes the physical moments of tricopter that based on its mechanism configuration and flight principle.Nonlinear dynamic equations of this airframe are established with Newton-Euler method.In order to improve modeling accuracy and integrity of the tricopter system,physical systems modeling method based on Matlab/Simscape toolbox are applied to model the system and cascade PID controller are designed for attitude control.
出处
《工业控制计算机》
2017年第3期76-77,79,共3页
Industrial Control Computer
