摘要
针对多旋翼飞行器的精准定点及稳定悬停控制问题,采用串级PID控制算法设计位姿控制器对多旋翼的位置和姿态进行控制。对多旋翼进行运动学及动力学分析,建立数学模型,并对所建模型进行分析再建立控制分配模型。为了简化控制器设计,将控制器分为位姿控制器和控制分配器两部分进行设计,改变控制分配器可以实现对不同旋翼的飞行控制,具有更广的适用性。仿真结果表明,多旋翼无人机具有较快的响应速度,垂直起飞和平飞两个阶段衔接紧密,能够准确到达给定目标位置并进行稳定悬停。
In order to control multi-rotor aircraft to hover stably and precisely over a fixed point,position and attitude controllers are designed by using cascade PID to control the position and attitude of the multi-rotor aircraft.A mathematical model is established after kinematics and dynamics analysis of the multi-rotor.Based on the analysis of the modela control allocation model is established.In order to simplify the design of controllersthe controllers are divided into two partsnamelyposition and attitude controller and control allocator.Changing the control allocator can realize the flight control of different rotorswhich has wider applicability.Simulation results show that the multi-rotor UAV has fast response speed with the stages of vertical take-off and level flight connected closelyand can accurately reach the given target point and hover stably over it.
作者
赵洁
陈至坤
张瑞成
ZHAO Jie;CHEN Zhikun;ZHANG Ruicheng(North China University of Science and Technology,Tangshan 063000,China)
出处
《电光与控制》
CSCD
北大核心
2021年第8期17-20,30,共5页
Electronics Optics & Control
基金
河北省自然科学基金(F2018209201)。
关键词
串级PID控制
控制分配
定点悬停
多旋翼飞行器
cascade PID control
control allocation
fixed-point hovering
multi-rotor aircraft
