四旋翼无人机增稳混合控制器设计  

Design of stability augmentation hybrid controller for a quadrotor unmanned air vehicle

作　　者：李国栋[1] 宋自立[1] 吴华[1] 柳长安[1] 

机构地区：[1]华北电力大学控制与计算机工程学院,北京102206

出　　处：《哈尔滨工业大学学报》2013年第5期86-90,共5页Journal of Harbin Institute of Technology

基　　金：国家自然科学(青年)基金资助项目(61105083);新世纪优秀人才支持计划资助项目(NCET-11-0634);中央高校基本科研业务费专项资金资助项目(12ZX16;11QG12)

摘　　要：为了改善四旋翼无人直升机在不同环境下的飞行稳定性,应用混合控制的方法设计了无人机增稳混合控制器.它有多个PID控制器可供选择,并根据无人机飞行高度和倾角大小选择当前合适的控制器,有效的降低了无人飞行器的坠毁机率和其他潜在危险的发生.并且通过Matlab中的Simulink工具箱搭建仿真系统,模拟了四旋翼无人机在起降、无风、有风和失控的情况下的控制器切换过程.仿真结果表明:应用混合控制器的四旋翼无人机在起降和有风情况下可有效抑制飞行器倾斜和水平漂移,提高稳定性.To improve the flight stability of quadrotor unmanned air vehicle(UAV) in different environment,a stability augmentation controller using hybrid control methods is designed.This hybrid controller contains several PID controllers,and it can choose the applicable controller according to the flight altitude and pitch/roll angle,which reduces probabilities of air crash and other potential risks.At the same time a simulation model is built with Matlab/Simulink toolbox which can simulate switching processes of quadrotor UAV in different situations contained take-off,landing,calm weather,windiness and out of control.The simulation results show that the hybrid controller is able to robustly stabilize the quadrotor UAV in different environments.

关 键 词：混合控制 四旋翼无人机 增稳控制 

分 类 号：V149.122[航空宇航科学与技术—人机与环境工程]