基于鲁棒补偿的四旋翼飞行器设计与实现  

Design and Implementation of a Four-Rotor Drone Based on Robust Compensator

作　　者：荆丹翔 韩军[1] 王冠宇[1] 周晗昀 武建勇[1] 陈桂辉[1] 

机构地区：[1]浙江大学海洋学院,浙江舟山316021

出　　处：《应用科学学报》2017年第3期394-404,共11页Journal of Applied Sciences

基　　金：浙江省"钱江人才计划"基金(No.2013R10023)资助

摘　　要：针对现有水域环境监测手段的不足,提出了一种基于四旋翼飞行器的水域环境监测方法.该飞行器可以在水面上空航拍,也可以悬停于水面或滑水飞行,并能将摄像头和环境监测传感器浸没水中进行实时监测.在设计了基于鲁棒补偿的姿态控制器和基于PID控制的位置控制器的基础上,搭建了系统样机,完成了飞行器定点悬停与水面滑水飞行的测试,并通过搭载的防水摄像头和传感器结合无线模块实现了水下环境的实时监测.In view of the shortage of the means for water environment monitoring, a mon- itoring method using four-rotor drones is proposed. The drone can fly above the water to obtain aerial videos, and also hover and ski over the water with the camera and monitoring sensors submerged underwater for real-time monitoring. An attitude controller based on robust compensation and a position controller based on PID method are designed. With the constructed prototype drone, hovering and water skiing tests were conducted. A wa- terproof camera and other sensors combined with wireless modules were used to realize real-time monitoring of the underwater environment.

关 键 词：环境监测 四旋翼飞行器 控制器 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置]