四旋翼飞行器建模及其运动控制  

Modeling and flight control of quadrotor

作　　者：郭勇[1,2] 汪大伟 邓宇 

机构地区：[1]中南大学高性能复杂制造国家重点实验室,湖南长沙410083 [2]山河智能装备股份有限公司国家级企业技术中心,湖南长沙410100

出　　处：《传感器与微系统》2017年第11期38-41,共4页Transducer and Microsystem Technologies

基　　金：湖南省重大科技成果转化项目(2012CK1003);国家科技支撑计划资助项目(2014BAD06B07)

摘　　要：针对四旋翼飞行器是一个欠驱动、强耦合、非线性系统,提出了运用反步法解决系统非线性问题,达到对飞行器快速、准确、稳定控制目的。研究了以反步法作为非线性设计工具对飞行器控制系统的设计问题,将飞行控制系统分为内外环2个子系统。建立四旋翼飞行器动力学及运动学方程,并对数学模型进行适当简化。利用反步法求解飞行器内环姿态控制律,实现对目标姿态角的稳定控制;利用比例—积分—微分(PID)作为飞行器外环位置控制律,实现对目标位置的稳定控制。搭建飞行器系统模型,进行Matlab/Simulink仿真实验,结果表明:在小角度飞行和悬停状态下,飞行器的位置与姿态精度得到了有效控制,验证了数学模型与控制律设计的准确性。Considering quadrotor is an underactuated,strong coupling,nonlinear system,in order to achieve purpose of quick,accurate and stable control of quadrotor,backstepping method is proposed to solve the nonlinear problem of the quadrotor. Meanwhile,overall control of quadrotor is divided into inner loop and outer loop subsystem. The first step is establishing the dynamics and kinematics equations of the quadrotor,and simplify the mathematical model. Backstepping method is used to solve control law. In view of the couple relationships,the backstepping method is applied to the inner loop for attitude control;the PID method is used in the outer loop for position control. Set up system modeles,the control system is simulated on Matlab/simulink platform. The simulation results show that the controls of attitude and position gain good results under small attitude angles or hovering conditions. The validity of controllers designed and math model is proved by simulations.

关 键 词：四旋翼飞行器 反步法 非线性 控制律 比例—积分—微分 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]