四旋翼飞行器姿态稳定性优化控制研究  

Quadrotor UAV Attitude Stability Optimize Control

作　　者：黄佳奇 吴晓燕[1] 张蕊[1] 马震[1] 

机构地区：[1]空军工程大学防空反导学院,西安710051

出　　处：《计算机仿真》2016年第7期87-90,共4页Computer Simulation

摘　　要：四旋翼飞行器是一种欠驱动、强耦合的非线性系统。针对四旋翼飞行器姿态稳定性优化控制进行研究,在一定的约束条件下,建立了四旋翼飞行器非线性动力学模型。为避免姿态与位置耦合,提高工程应用价值,设计了一种基于反步法的控制器。完成了两次仿真:首先为定点悬停,实验结果表明对于飞行器的位置和姿态控制,所设计控制器都能对定点悬停表现出良好的控制性能;其次为轨迹跟踪,结果表明所设计控制器能够使飞行器按照预定轨迹飞行,实际轨迹与期望轨迹基本重合。两个实验验证了所设计控制器的有效性。Quadrotor UAV is a under-driven, strongly coupled nonlinear system. This paper focuses on the quadrotor UAV aircraft attitude stability control. The nonlinear dynamic model of quadrotor is built under some constraints. A backstepping controller is designed which avoids position decoupling with orientation and improves industrial application value. Two simulations are accomplished： One is spot hover, the result shows that the controller has favorable control performance for spot hover of the position and attitude control of quadrotor. And the other is trajectory tracking, the result shows that the controller can make the quadrotor fly according to the desired trajectory and the actual path and the desired trajectory appears to mainly overlap. The two simulations verify that the controller is effective.

关 键 词：四旋翼飞行器 动力学模型 反步法 仿真 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]