四旋翼直升机的滑模控制研究  

Research on sliding-mode control of quadrotor

作　　者：刘晓青[1] 罗刘敏[1] 李晋[1] 程全[1] 杨静[2] 

机构地区：[1]周口师范学院机械与电气工程学院,河南周口466001 [2]周口师范学院物理与电信工程学院,河南周口466001

出　　处：《现代电子技术》2017年第13期106-109,共4页Modern Electronics Technique

基　　金：国家自然科学基金(11547227);河南省科技攻关计划(132102210179;142102210599);河南省自然科学基金研究项目(152300410134);河南省教育技术装备和实践教育研究项目(GZS310)

摘　　要：四旋翼直升机因其优良特性,在军事和民用领域均有广阔的应用前景。为确保其安全稳定飞行,针对周口师范学院自主研制的四旋翼直升机,结合其结构及动力学原理,考虑非匹配不确定性因素的影响,对三自由度四旋翼直升机进行建模。采用线性矩阵不等式技术进行变结构滑模控制系统设计,仿真结果表明,该系统抗参变能力较强,直升机的飞行姿态基本满足控制要求。The quadrotor has broad application prospect in military and civil fields due to its excellent properties. In order to ensure its safe and stable flight,aiming at the quadrotor developed by Zhoukou Normal University independently,a quadrotor with three-degree of freedom is modeled in combination with its structure,dynamics principle,and effect of unmatched uncertainty factors. The linear matrix inequality technology is used to design the variable structure sliding-mode control system. The simulation result shows that the system has strong capability to resist the parameter variation,and the flight attitude of the quadrotor can satisfy the control requirements basically.

关 键 词：滑模控制 四旋翼直升机 建模 线性矩阵不等式 

分 类 号：TN876-34[电子电信—信息与通信工程] TP273[自动化与计算机技术—检测技术与自动化装置]