四旋翼飞行器建模、控制与仿真  

Modeling,Control and Simulation of a Quadrotor Aircraft

作　　者：杨庆华 宋召青[2] 时磊[3] 

机构地区：[1]海装驻西安地区军事代表局,西安710054 [2]海军航空工程学院控制工程系,山东烟台264001 [3]防空兵指挥学院作战指挥系,郑州450052

出　　处：《海军航空工程学院学报》2009年第5期499-502,共4页Journal of Naval Aeronautical and Astronautical University

摘　　要：四旋翼飞行器在平面结构上具有4个平均分布且呈十字对称的推进器。建立了机体坐标系和惯性坐标系，根据飞行器的动力学特性建立该飞行器的数学模型；利用滑模控制的方法对所建立的模型进行研究；在满足李雅普诺夫稳定条件下，利用反演控制方法推导出控制滑模面，并建立滑模控制律；最后，在给定参数值的情况下，通过所建立的控制律对该飞行器的滑模控制进行了仿真。The quadrotor has four propellers which equally distribute on the flat surface structure, and symmetry in the cross. The inertial frame and body frame were set up, and the mathematics model of that aircraft was built up according to the dynamics characteristic of the quadrotor. The sliding mode control method was selected to carry on a research based on the mathematics model. Based on the backstepping approach and in order to ensure the Lyapunov stability, the sliding mode law was set up. Finally, simulation of the sliding mode control law for the aircraft was taken under the given parameter.

关 键 词：四旋翼飞行器 动力学模型 反演 滑模控制 仿真 

分 类 号：V249.122[航空宇航科学与技术—飞行器设计]