六旋翼飞行器目标搬移控制方法研究  

Research on The Control Method of Target Move with Six-Rotor Aircraft

作　　者：高庆吉[1] 张运好[1] 王晓丽[1] 

机构地区：[1]中国民航大学机器人研究所,天津300300

出　　处：《自动化技术与应用》2017年第2期9-14,共6页Techniques of Automation and Applications

摘　　要：针对六旋翼飞行器在室外进行物体搬移导致飞行器质量和重心发生变化,从而引起飞行器姿态稳定性问题,本文建立了六旋翼飞行器的动力学模型,并提出运用模糊自适应PID控制方法设计六旋翼飞行器控制器。运用本六旋翼飞行器在室外进行了搬移目标的试验,实验中六旋翼飞行器平稳的实现了目标的提起和释放,验证了模糊自适应PID控制方法的稳定性、鲁棒性。To solve the problem that the vehicle stability is affected, resulted from the change of aircraft mass and center of gravity when the six-rotor aircraft move objects outdoors. A six-rotor aircraft dynamics model is built. And the fuzzy adaptive PID control method is applied to design the controller of six-rotor aircraft. An experiment that moving objects outdoors with the six-rotor aircraft has been done. Achieving the goal that lifting and releasing target stably, as well as verified the stability and robustness of the fuzzy adaptive PID control method.

关 键 词：目标搬移 模糊自适应PID 六旋翼飞行器 滑模控制 

分 类 号：V212.13[航空宇航科学与技术—航空宇航推进理论与工程]