四旋翼机器人运动控制与自适应PID控制算法设计  

Design of Motion Control and Adaptive PID Control Algorithm for Four Rotor Robot

作　　者：龚兰芳[1] 许伦辉[2] GONG Lan-fang;XU Lun-hui(Department of Automation,Guangdong Polytechnic of Water Resources and Electric Engineering,Guangdong Guangzhou 510-925,China;School of Civil Engineering and Transportation,South China University of Technology,Guangdong Guangzhou 510640,China)

机构地区：[1]广东水利电力职业技术学院自动化系,广东广州510925 [2]华南理工大学土木与交通学院,广东广州510640

出　　处：《机械设计与制造》2018年第12期254-256,共3页Machinery Design & Manufacture

基　　金：国家自然科学基金资助项目(61263024);广东省高职品牌专业建设项目(610119);学院项目(cy060402z11;cy0602t02)

摘　　要：针对四旋翼机器人关键技术进行了深入的研究。首先分析了四旋翼机构特征及其主要的用途。其次,利用了四旋翼的正交的结构特征进行系统设计。再次,根据旋翼机器人的运动特点进行了本体运动控制分析,实现了悬停、前后、水平、俯仰和翻转等运动状态。最后,采用模糊自适应PID控制算法设计了一款位姿控制器,推导出一个非线性动力学仿真模型,用一个PID测试控制器进行仿真,并在真实飞行中成功地测试机器人,达到了一个理想的效果。The key technologies of four rotor robot are studied deeply. First, the characteristics and main application of four rotor mechanism are analyzed. Secondly, orthogonal structure feature of four rotor robot is designed. Thirdly, the motion control analysis is carried out according to the motion characteristics of the rotor robot, and achieves motion of hovering, front and back, horizontal, pitching and overturning. Finally, a position controller is designed by using the fuzzy adaptive PID control algorithm. A nonlinear dynamic simulation model is developed, and a PID test controller is used to simulate the simulation and successfully test the robot in real flight.

关 键 词：四旋翼机器人 运动控制 系统设计 自适应PID控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP242.3[自动化与计算机技术—检测技术与自动化装置]