四旋翼无人机陀螺仪实现姿态稳定性控制  

Gyroscope achieves the four rotor UAV attitude stabilization control

作　　者：马正华[1] 陈杰[1] 陈岚萍[1] 范文韬[1] 

机构地区：[1]常州大学,江苏常州213100

出　　处：《计算机仿真》2016年第10期32-38,共7页Computer Simulation

摘　　要：在无人机飞行安全优化控制的研究中,单一的控制系统通过陀螺仪采集无人机的姿态角度,并用作控制反馈。上述方式已经不能很好的适应当前复杂的飞行环境以及飞行安全性要求。针对无人机能在各种飞行环境中稳定高效的飞行,提出一种通过陀螺仪测控的参数对无人机飞行环境和飞行状态进行判断,自主选择飞行模式,在干扰较小的环境下,为平稳模式,使用反步法控制器控制;在干扰较大的环境下,切换至增稳模式,使用模糊PID控制器控制,在干扰特大环境下,切换至失控模式,实行保护措施。并通过二分中值法找出最佳切换点。仿真结果表明,模式的准确切换能够使无人机适应各种飞行环境,在无人机的飞行精度和安全性方面得到了大大提升。In order to achieve stable and efficient flight in various flight environments,a method is proposed to judge the flight environment and flight status of UAV by using the parameters of gyroscope. And the UAV can autonomously choose the flight modes. Under the small interference environment,the UAV chooses the stationary mode with the backstepping controller to carry out the control process. And under the large interference environment,the UAV can be automatically switched to the runaway mode to implement the protection measures. The optimal switching point is calculated by binary median method. The simulation results show that the accurate switching of flight mode can make UAV accommodate to a variety of flight conditions,and can greatly improve the flight accuracy and safety of UAV.

关 键 词：四旋翼无人机 反步法 切换增稳控制 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]