四旋翼飞行器的自主巡航控制系统设计  

Design of Autonomous Cruise System for Quadrotors

作　　者：李运堂[1] 马亮[1] 贾宇宁[1] 

机构地区：[1]中国计量学院机电工程学院,杭州310018

出　　处：《计算机测量与控制》2015年第10期3361-3363,共3页Computer Measurement &Control

基　　金：浙江省科技厅公益项目(2012C21082)

摘　　要：针对四旋翼飞行器是个六自由度,四控制量的欠驱动系统,首先,通过系统的动力学模型的分析与简化,将四旋翼飞行控制系统简化为姿态子系统和位置子系统;采用了MIMU(微惯性测量组合)及GPS融合的导航方法,采用了PID飞行控制策略作为四旋翼飞行器的导航及控制方法;其次,在对飞行器进行理论研究的基础上设计了系统的硬件电路并完成了实物的搭建;最后,实现了利用地面站软件加载数字地图并进行自主巡航;经室外测试,设计出的四旋翼飞行器能够实现遥控稳定飞行、具有一定的快速性和鲁棒性。The quadrotor is a underactuated control system which has six degrees of freedom and only four control variables. Firstly, Through dynamic modeling analyzing and simplifying of the system , system of the quadrotors is simplified as Attitude subsystem and Loca- tion subsystem in this design, proportion integration differentiation （PID） control method is used for navigation and control method~ micro inertial measurement unit （MIMU） /global positioning system （GPS） integrated navigation is used for Navigation System. Secondly, hard- ware circuit and body of the quadrotor unmanned aerial vehicle （UAV） is built based on the theoretical study. Finally, digital map is loaded, navigation waypoint function is read and writed through upper--computer software. Proved by the outdoor test, The quadrotor is full of certain quickness and robustness and can fly steadily with remote control.

关 键 词：四旋翼飞行器 自主巡航 路径规划 PID控制 MIMU/GPS组合导航 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置]