摘要
为了解决传统旋翼无人机因手动遥操作而导致飞行不稳定的问题,研究了基于插补导航的全自主旋翼机的设计与控制方法。首先,根据导航系统和地面站,获得当前无人机与目标点之间的位置姿态关系;然后基于插补控制算法,利用机载控制器输出相应的能够控制无人机稳定飞行的脉冲宽度信号,实现脱离手动遥操作的四旋翼无人机全自主飞行控制。最后,通过全自主插补导航飞行仿真与实验,验证了该全自主无人机设计的可行性。结果表明,该全自主控制架构能够有效地模拟遥操作信号,实现无人机的全自主飞行控制,且具有更高的稳定性。
In order to solve traditional rotor copters＇ problem of flight instability caused by remote manual control, the fully independent design and control of rotor copter unmanned aerial vehicles （UAV） based on interpolation naviga- tion were studied. First of all, the current position and attitude relationships between the UAV and the target were obtained according to navigation system and ground station. And then based on the interpolation control method, the pulse width signal coming from the onboard controller to make the UAV＇ s flight stable, was used to realize the UAV＇ s autonomous flight without teleoperation control. Finally, through the automatic interpolation navigation flight simulation and experiment, the feasibility of the whole autonomous UAV design was verified. The experiment results show that the full autonomous control architecture can effectively simulate the teleoperation signal, and its control performance is more stable.
出处
《高技术通讯》
北大核心
2017年第5期464-471,共8页
Chinese High Technology Letters
基金
国家自然科学基金(61203331
61573263)
湖北省自然科学基金(2014CFB813)
湖北省科技支撑计划(2015BAA018)资助项目
关键词
旋翼机
全自主控制
插补控制
机载控制器
rotor copter, autonomous control, interpolation control, onboard controller
