基于MCS的四旋翼飞行器航迹追踪控制研究  

Research on the trajectory control for quadrotor based on MCS

作　　者：郑华清[1,2] 曾庆化[1,2] 陈维娜[1,2] 陈超[3] 朱华[3] 

机构地区：[1]南京航空航天大学导航研究中心,江苏南京211106 [2]卫星通信与导航协同创新中心,江苏南京211106 [3]南京航空航天大学精密驱动研究所,江苏南京210016

出　　处：《电子设计工程》2017年第11期81-84,89,共5页Electronic Design Engineering

基　　金：国家自然科学基金(61533008;61374115;61104188);中央高校基本科研业务费专项资金(NS2015037)

摘　　要：高精度运动捕捉系统对四旋翼飞行器控制算法的研究具有重要意义。针对传统PID控制在出现较大速度变化率时,会输出很大偏差引起系统的振动,设计了一种不完全微分先行的改进PID控制算法,完成了四旋翼飞行控制器的设计,为了提高四旋翼控制算法的精确度,本文引入了运动捕捉系统,设计了四旋翼飞行器的导航控制系统并且搭建了飞行器测试平台。仿真和实验结果表明,设计的控制器具有良好的稳定性和跟踪性,为下一步更为深入的控制算法的设计和研究奠定了良好的基础。High precision motion capture system is of great significance to the research of the control algorithm of the quadrotor. Aimed at the problem of the vibration caused by a large deviation when the traditional PID control appears a large velocity change, an incomplete differential ahead improved PID algorithm is proposed to the design the quadrotor control system. In order to improve the accuracy of the control algorithm of quadrotor, the motion capture system is introduced in this paper. The quadrotor navigation and control system is designed and the test platform is built. The results of the simulation and experiment show that the controller has good stability and tracking performance, which lay a good foundation for the further research and design of the control algorithm.

关 键 词：四旋翼飞行器 运动捕捉系统 改进PID 导航控制系统 测试平台 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]