四旋翼无人飞行器串级PID控制系统研究  

Study on the Cascade PID Control System for Quad UAV

作　　者：石朝霞[1] 胡兴柳[1] 姜思辰[1] 张博群 高健钦 刘玉宏[1] 

机构地区：[1]安徽工业大学电气与信息工程学院,安徽马鞍山243002

出　　处：《滨州学院学报》2016年第4期10-16,共7页Journal of Binzhou University

基　　金：国家级大学生创新创业训练计划项目(201410360108)

摘　　要：分析推导小型四旋翼飞行器的数学模型,选取合适的输入输出量以及状态量,运用matlab工具对飞行器在悬停点进行配平和线性化,从而得到输出对输入的传递函数,实现控制模型的简化。针对线性化后的飞行器模型传递函数,进行稳定性分析。结合经典控制理论对每一个通道进行校正,设计了串级PID控制器,并搭建matlab/simulink仿真环境对设计好的控制器进行仿真分析,完善所设计的串级PID控制器的参数。The mathematical model of the micro quad flight,in order to simplify the control model,with analysis and deduction of the appropriate input and output,along with the state volume of course,are selected to trim and linear the flight at hover with matlab commands and tools.In view of the transfer function model,the stability analysis is carried out in this paper.Combined with the classical control theory for each channel correction,a cascade PID controller is designed,and simulated with the use of matlab/simulink.The performance of the cascade PID controller has been improved through debug repeatedly.

关 键 词：四旋翼无人飞行器 飞行控制系统 动力学模型 MATLAB 串级PID 联合仿真 

分 类 号：V279[航空宇航科学与技术—飞行器设计]