一种新型多旋翼飞行器的建模与反演控制  

Modeling And Backstepping Control for A Novel Multi-Rotor Aircraft

作　　者：杨成顺[1] 杨忠[1] 张强[1,2] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]济南大学自动化与电气学院,山东济南250022

出　　处：《济南大学学报（自然科学版）》2013年第1期52-58,共7页Journal of University of Jinan(Science and Technology)

基　　金：国家自然科学基金(60674100);高等学校博士学科点专项科研基金(20113218110013);江苏省普通高校研究生科研创新计划项目(CXLX11_0200)

摘　　要：针对目前多旋翼飞行器存在控制系统可靠性不足、载重量小、抗风性差等缺陷,提出一种外形布局新颖、内部结构简洁、具有硬件冗余且易于工程实现的新型多旋翼飞行器方案。建立了飞行器的非线性运动学和动力学模型,并从飞行器的物理特性角度出发,设计了一种易于工程实现且可保证系统的稳定以及良好轨迹跟踪性能的反演控制策略,仿真实验结果验证了该策略的正确性和有效性。Aiming at the current multi-rotor aircraft's inadequacies such as insufficient control system reliability,smaller payload capacity,lack anti-crosswind capability,etc.,a novel multi-rotor aircraft which has a new and unique layout,a simple structure and hardware redundancy is presented.Also this aircraft is practically easy to be accomplished.After that,nonlinear kinematics and dynamics models of the aircraft are established,and a backstepping control scheme is implemented according to the physical characteristics of this aircraft,which can guarantee the stability and well trajectory tracking performance of the system.The correctness and effectiveness of the proposed scheme are verified through simulation experiment.

关 键 词：多旋翼飞行器 建模 硬件冗余 反演控制 

分 类 号：V249[航空宇航科学与技术—飞行器设计]