摘要
四旋翼飞行器的姿态控制是无人机稳定飞行的关键技术之一。针对复杂多变作业条件下飞行器参数会经常发生变化的问题,在典型控制方法的基础上提出一种自适应的智能控制方法。首先,根据牛顿欧拉定律推导出无人机在地理坐标系下的动力学模型,并对其中参数进行测量计算;然后基于三角形隶属度函数建立模糊控制器,作为外环自主切换的两种控制方式之一,并设置平滑切换过程;最后结合外环对姿态角的控制方法以及内环对角速度快速调整的PD控制方法,实现了无人机串级PID控制方法。仿真和实验结果表明,该系统能够有效控制四旋翼飞行器的飞行姿态。相比较其它算法,其具有更好的鲁棒性和姿态调节的快速性。提升了无人机在飞行过程中抵抗环境扰动和系统动态响应的能力,为四旋翼飞行器控制研究提供了重要的理论与实践基础。
Attitude control of quadrotor aircraft is one of the key technologies for the stable flight of UAV. In order to solve the problem,that the parameters of aircraft often change under complex operating conditions,this paper proposes an adaptive intelligent control method based on classical PID control. Firstly,according to Newton euler’s law,the dynamic model of UAV in the geographic coordinate system is deduced,and the parameters are measured and calculated. Then,based on the triangle membership function,the fuzzy controller is established as one of the two control methods for the outer ring to switch autonomously,and the smooth switching process is set up. Finally,combined with the control method of attitude angle of outer ring and PD control method of rapid adjustment of angular velocity of inner ring,the cascade PID control method of UAV is realized. Simulation and experimental results show that the system can effectively control the flight attitude of the quadrotor aircraft. Compared with other algorithms,it has better robustness and faster attitude adjustment. It improves the capacity of UAV to resist environmental disturbance and system dynamic response during flight,and provides an important theoretical and practical basis for research on quadrotor aircraft control.
作者
丁娃
吴功平
何文山
李谋远
DING Wa;WU Gong-ping;HE Wen-shan;LI Mou-yuan(School of Power and Mechanical Engineering,Wuhan University,Hubei Wuhan 430072,China)
出处
《机械设计与制造》
北大核心
2022年第6期208-213,共6页
Machinery Design & Manufacture
基金
高塔跨越林区输电线路巡检机器人工程实用化关键技术研究(JDK2015-21)。
关键词
四旋翼
自主切换
串级控制
模糊规则
平滑过渡
Quadrotor
Autonomous Switching
Cascade Control
Fuzzy Rule
Smooth Transition
