多旋翼飞行器动力学建模与控制系统设计  

The Design of Multi Rotor Aircraft Dynamics Modeling and Control System

作　　者：赵永亮[1] 周超英[1] 谢鹏[1] 

机构地区：[1]哈尔滨工业大学深圳研究生院,广东深圳518055

出　　处：《机电产品开发与创新》2015年第4期102-104,共3页Development & Innovation of Machinery & Electrical Products

摘　　要：考虑到多旋翼飞行器多变量、欠驱动以及承载能力小等特点,设计了一种不增加旋翼尺寸,而提高升力的多旋翼。对多旋翼飞行器进行动力学建模,并对模型进行适当简化得出最终动力学模型。通过实验的方法测量出模型所需要的未知量。采用PID控制算法对模型进行matlab仿真实验,并得出结论。Considering the multi rotor aircraft, multivariable underactuated characteristics, and the bearing capacity of small, a design does not increase the size of the rotor, the rotor lift up. Kinetic modeling of multi rotor aircraft, and the model is simplified to get the final kinetic model. Through the experimental methods to measure the unknown model needed. Using the PID control algorithm matlab simulation experiment of the model, and draw the conclusion.

关 键 词：多旋翼飞行器 动力学建模 PID控制 MATLAB仿真 

分 类 号：TP391.8[自动化与计算机技术—计算机应用技术]