摘要
针对四旋翼机器人关键技术进行了深入的研究,首先分析了四旋翼机构特征及其主要的用途。其次,根据其旋翼采用正交安装的结构特征进行了运动控制分析,实现了悬停、前后、水平、俯仰和翻转运动等。再次,建立了四旋翼机器人的非线性动力学数学模型,实现了无人机实时力矩补偿控制。最后,采用模糊自适应PID控制算法设计位姿控制器,提出了一种基于动态数学模型的位姿控制方法。经过实验,将运动控制和动力学算法应用到四旋翼机器人,进行了空载位姿跟踪和悬停等实验,同时采集了姿态转角。通过实验证明了无人机运动控制算法、动力学算法和模糊自适应控制器的稳定性、准确性和鲁棒性。
The key technology of four-rotor unmanned aerial vehicle（UAV）is studied deeply. Firstly,the mechanism of four rotor and its main application are analyzed. Secondly,the structural characteristics of the four-rotor orthogonal installation are analyzed by motion control,and hover,front and rear movement,horizontal movement,pitching motion and inversion movement are realized. Thirdly,the nonlinear dynamic mathematical model of the four-rotor unmanned aerial vehicle（UAV）is established,and the real-time torque control of the UAV is realized. Finally,a fuzzy adaptive PID control algorithm is used to design the pose controller,and a pose control method based on dynamic mathematical model is proposed. The effectiveness and robustness of the attitude controller under simulation conditions are studied,and the motion control and dynamic algorithms are applied to the four-rotor unmanned aerial vehicle（UAV）,and the no-load pose tracking,hovering,transportation and release load test. The results show that motion control algorithm,dynamic algorithm and fuzzy adaptive controller are efficient and robust.
作者
汤颖
赵彬
TANG Ying1,ZHAO Bin2,3(1.Jiangxi Vocational College of Financeand Economics,Jiangxi Jiujiang 332000,China;2.SIASUN Robo t＆ Automation Co.,Ltd., Liaoning Shenyang 110168,China;3.Dongbei University of Financeand Economic,College of Business Administration,Liaoning Dalian 116025,Chin)
出处
《机械设计与制造》
北大核心
2018年第8期259-262,共4页
Machinery Design & Manufacture
基金
国家高技术研究发展863计划(2012AA041405)
沈阳市工业科技攻关项目(F12-010-2-00)
