四旋翼无人机设计与滑模控制仿真  

Design of quadrotor UAV and its sliding mode control simulation

作　　者：尤元[1] 李闻先[2] 

机构地区：[1]长春工业大学,吉林长春130012 [2]中国科学院长春光学精密机械与物理研究所,吉林长春130033

出　　处：《现代电子技术》2015年第15期80-83,86,共5页Modern Electronics Technique

基　　金：吉林省重点科技攻关项目(20140204044SF)

摘　　要：随着近些年自然灾害的频繁发生,四旋翼飞行器搜救设备得到越来越广泛的应用。首先介绍四旋翼飞行系统的总体设计架构,然后针对地面坐标系与集体坐标系建立了四轴飞行器的动态模型,同时为得到良好的响应速度、控制稳定度与鲁棒性,应用滑模变结构控制理论设计了飞行器的控制算法。最后通过仿真数据对相同条件下的PID控制器与该控制器对比,证明该控制器的强鲁棒性和控制稳定性满足项目任务需求。With the frequent occurrence of natural disasters in recent years,quadrotor UAV search and rescue equipments have been applied widely. The overall design framework of quadrotor aircraft system is introduced. The dynamic model of quadrotor aircraft was established for ground coordinate system and global coordinate system. To obtain fast response speed,and control stability and robustness,sliding mode variable control is used to design aircraft control algorithm. Simulation data are compared between PID controller and the proposed controller,it demonstrates that the strong robustness and control stability of sliding mode variable controller can meet project′s mission requirements.

关 键 词：四旋翼飞行器 滑模变结构控制 PID控制 建模仿真 

分 类 号：TN964-34[电子电信—信号与信息处理] V249.1[电子电信—信息与通信工程]