多旋翼无人机姿态控制方法设计与分析  

Design and Analysis of Attitude Control for Multi Rotor Unmanned Aerial Vehicle

作　　者：母庚鑫 白磊[1] 杨旭 

机构地区：[1]华北水利水电大学,河南郑州450045

出　　处：《装备制造技术》2017年第8期37-39,共3页Equipment Manufacturing Technology

摘　　要：多旋翼无人机因其机械结构简单、维护使用方便等突出特点,近几年在各个应用领域发展迅速。但由于其动态系统为非线性、强耦合,并且对外界及自身系统干扰敏感等特点使其系统难以控制。通过分析无人机的飞行姿态,设计了一种相对传统PID控制方法进行改进的无人机姿态控制方法,并在软件上编程实现,通过飞行测试及地面站输出的结果,验证了该方法确实有助于改善无人机的动态性能,使其在有外界及自身系统干扰的情况下更易于控制,更稳定。Because of its simple structure and convenient maintenance, the multi rotor UAV has developed rapidly in various fields in recent years. However, the dynamic system is nonlinear, strong coupling, and sensitive to the outside world and its own system. In this paper, through the analysis of the UAV flight attitude, a control method of UAV attitude control method is improved compared with the traditional PID design, and the software programming, through the flight test and ground station output results, verify the dynamic performance of this method does help to improve the UAV, the interference the outside world and its own system under the condition of more easy to control, more stable.

关 键 词：多旋翼无人机 姿态分析 改进PID 姿态控制 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]