四旋翼飞行器控制系统优化设计研究  

Study on Optimal Design of Four-Rotor Aircraft Control System

作　　者：钱路 李智[1] 王勇军[1,2] QIAN Lu;LI Zhi;WANG Yong -jun(School of Information and Communication, Guilin University of Electronic Technology, Guilin Guangxi 541004, China;Key Laboratory of Unmanned Aerial Vehicle Telemetry, Guilin University of Aerospace Technology, Guilin Guangxi 541004 China)

机构地区：[1]桂林电子科技大学电子工程与自动化学院,广西桂林541004 [2]桂林航天工业学院无人遥测重点实验室,广西桂林541004

出　　处：《计算机仿真》2018年第4期18-23,共6页Computer Simulation

基　　金：国家自然科学基金(61361006);广西自然科学金(2015GXNSFBA139251);广西自动检测技术与器重点实验室基金项目(YQ14203);广西高校无人机遥测重点实验室主任基金(WRJ2015ZR02);广西科学技术开发项目(桂科攻1598008-29)

摘　　要：在四旋翼飞行器控制系统优化问题的研究中,四旋翼飞行器时常会受到外界扰动而易出现抗干扰能力差、控制精度低等问题。针对上述问题,设计了一种以反步法为基础,结合自适应原理,引入积分环节的增稳积分反步自适应位置控制算法,为减少系统响应时间,根据切换控制的思想,设定限定调节带状区域,用以判定是否加入积分环节。在姿态控制上,采用反步鲁棒自适应控制算法进行控制。将四旋翼飞行器控制系统内环设计为姿态控制,外环设计为位置控制。实验结果表明,所设计的控制算法能够有效的抑制干扰,提高系统的控制精度和鲁棒性。In the study on the optimization of the control system of four - rotor aircraft, four - rotor aircraft is often subject to external disturbance and prone to poor anti - interference ability and low control accuracy. Aiming at the a- bove problems, an adaptive backstepping control algorithm is proposed to design the position controller. The control method based on backstepping, combined with the adaptive principle and the integral link, was introduced. Accord- ing to the idea of switching control, adjustment strip - shaped region was set to determine whether join the integrator. Backstepping robust adaptive control algorithm was used to control the attitude. The four - rotor aircraft attitude con- trol system was designed to control the inner and outer rings were designed to position control. The Experimental re- sults show that the designed control algorithm can effectively restrain interference, and improve the system control precision and robustness,

关 键 词：四旋翼飞行器 动力学模型 反步法 自适应 限域控制 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]