带悬挂负载的八旋翼无人机建模与控制  

Modeling and control of unmanned octocopter with slung load

作　　者：李伟荣[1] 方舟[1] 李诚龙 

机构地区：[1]浙江大学航空航天学院,杭州310027

出　　处：《计算机应用》2015年第A02期138-142,211,共6页journal of Computer Applications

基　　金：国家自然科学基金资助项目(61004066)

摘　　要：针对带悬挂负载的八旋翼无人机的飞行稳定性问题,建立八旋翼无人机-负载模型并提出控制方法。首先建立悬挂负载的模型,并将其耦合到八旋翼无人机模型上,得到整个八旋翼无人机-负载系统的非线性模型。然后在悬停点处进行模型的线性化,根据线性化模型,设计PID串级控制器,整定控制器参数,使得系统达到军标ADS-33E-PRF的Level1标准。最后基于设计的控制器,在5~8 m/s的风速下,完成了带悬挂负载的八旋翼无人机的飞行实验。实验数据表明：带悬挂负载飞行时,八旋翼无人机能够准确地跟踪设定值,其位置稳态余差小于0.4 m,整个过程姿态、速度稳定。实验结果验证了所设计控制器的可靠性。目前,该研究成果已成功应用于雷达标校中。Concerning the flight stability problem of the unmanned octocopter with a slung load,its load model was established and a control method was proposed. First,the slung load was modeled and integrated with the unmanned octocopter,so the nonlinear model of the whole unmanned octocopter-slung load system was established. Second,the model was linearized at the hovering operation point. Based on the linear model,a PID cascade controller was designed,and the parameters of the controller were tuned to meet the Level1 of the military standard ADS-33E-PRF. Finally,based on the designed controller,a flight experiment of the unmanned octocopter with a slung load was conducted under the wind speed of5- 8 m / s. The flight data indicates that the unmanned octocopter can track the settings accurately when flying with a slung load. The residual of position is less than 0. 4 m. The attitude and speed are stable. The results show that the designed controller is reliable. The research results have been successfully used in radar calibration currently.

关 键 词：八旋翼无人机 悬挂负载 建模 PID串级控制 飞行实验 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]