关于八旋翼无人机于混杂控制系统设计仿真  

Simulation of Eight-Rotor Unmanned Aerial Vehicle in Hybrid Control System Design

作　　者：沈学强[1] 范继伟[1] 薛婷婷 陈思[1] SHEN Xue-qiang;FAN Ji-wei;XUE Ting-ting;CHEN Si(School of Automation Engineering,Northeast Electric Power University,Jilin Jilin 132000,China)

机构地区：[1]东北电力大学自动化工程学院,吉林吉林132000

出　　处：《计算机仿真》2018年第11期38-44,55,共8页Computer Simulation

摘　　要：为了更好的实现八旋翼无人机在不同环境下对位置与姿态的控制,应用混杂控制理论设计出无人机在不同飞行状态下backstepping与PID控制器间的切换,并研究了系统切换稳定性问题。通过MATLAB/Simulink搭建混杂控制系统仿真模型,研究了无人机在起飞、干扰、避障、降落情况下的姿态角及高度控制器的切换过程,使飞行器处在不同状态飞行时,都有一套合适的控制器与之相配合,以提高系统的响应速度与稳态误差,从而达到增稳的目的。仿真结果表明,应用混杂控制系统所设计的八旋翼无人机在受到扰动时,可以有效地抑制扰动所带来的漂移影响,增强了系统的动态性能与稳定程度,满足飞行的位置与姿态控制要求。In order to better achieve the eight-rotor UAV in different environment of position and attitude control, hybrid control theory was used to design the switching between backstepping and the PID control system at different flight conditions, and the stability problem of switching system was studied. Based on MATLAB/Simulink, we built a hybrid control system simulation model of UAV in the process of switching off, interference, obstacle avoidance, landing attitude angle and height controller under the condition of the vehicle. In different flight state, there is a suitable controller matched with it, so that to improve the response speed and the steady-state error of the system and to achieve the purpose of increasing stability. The simulation results show that the eight-rotor design application of hybrid control system of UAV can effectively suppress the drift effect caused by disturbance, enhances the dynamic performance and stability of the system, and meets the control requirements of position and attitude of flight.

关 键 词：混杂控制系统 八旋翼无人机 状态切换 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置] V249.122[自动化与计算机技术—控制科学与工程]