一种自主四旋翼飞行器控制系统结构研究  

An autonomous control system research of quadrotor UAV

作　　者：杨立本[1,2] 章卫国[1,2] 何墉[1,2] 黄得刚 

机构地区：[1]西北工业大学自动化学院,陕西西安710129 [2]陕西省飞行控制与仿真重点实验室,陕西西安710129

出　　处：《飞行力学》2016年第1期59-62,共4页Flight Dynamics

基　　金：国家自然科学基金资助(61374032);航空科学基金资助(20140753012)

摘　　要：四旋翼无人飞行器在军事及民用领域都有很重要的应用,但目前主要是以遥控控制为主,其自主飞行能力较弱,因此提出了一种针对四旋翼飞行器的自主控制架构,它可根据设置好的飞行轨迹进行自主巡航飞行。该自主飞行架构主要分为两部分,分别为导航控制系统和姿态控制系统。导航控制系统根据航线信息解算系统控制姿态角及飞行速度,并把解算结果交给姿态控制系统,由姿态控制系统完成实际飞行器姿态的控制。通过航线自主飞行仿真对该方法的可行性进行了验证。结果表明,该自主控制架构明晰,易于实际控制系统的实现,具有实际应用价值。The quadrotor UAV has very important application in the military and civil field. But at present it is mainly remote controlled by the operator. The automatic flight capability is weak,so we proposed a new automatic control architecture. It can perform automatic cruise flight according to the trajectory. The automatic flight architecture includes the navigation control system and the attitude control system. Navigation control system calculates the control attitude angle and flight velocity according to the trajectory information,and the calculation results will be sent to the attitude control system,which will complete the actual vehicle attitude control. The simulation results of automatic flight verified the feasibility of the method. The architecture of the automatic control is clear and easy to realize the practical control,and has the practical application value.

关 键 词：四旋翼 自主飞行控制 导航控制 姿态控制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]