基于四元数的四轴飞行器姿态控制  

Quadrotor aircraft attitude control based on quaternion

作　　者：荆学东 潘翔 JING Xuedong;PAN Xiang(Shanghai Institute of Technology,Shanghai 201418,China)

机构地区：[1]上海应用技术大学,上海201418

出　　处：《现代电子技术》2018年第16期116-119,共4页Modern Electronics Technique

基　　金：上海市科学技术委员会科研计划项目(16090503700)~~

摘　　要：为了实现四轴飞行器的姿态控制,建立四轴飞行器四元数运动学方程,给出了四元数微分方程的解析解和数值解,在此基础上求解出欧拉角。四轴飞行器采用串级PID控制算法,以欧拉角作为系统外环,补偿后的角速度作为系统内环。通过Matlab/Simulink仿真,对比单级PID控制效果,验证了算法的可靠性。最后,搭建了飞行器试验平台,在STM32飞控板上编程实现算法。实验证明,该控制系统较单级PID具有响应速度快,超调量小等优点,基本满足室外飞行要求。A quaternion kinematic equation for the quadrotor aircraft is established,the analytical solution and numerical solution of the quaternion differential equation are given,and the Euler angle is solved on this basis,so as to realize attitude control of the quadrotor aircraft.The cascade PID control algorithm is used for the quadrotor aircraft,taking the Euler angle as the outer ring of the system and angular velocity after compensation as the inner ring of the system.The reliability of the algorithm is verified by using the Matlab/Simulink simulation to compare the effects of singlelevel PID control and cascade PID control.The aircraft test platform is established.The algorithm is implemented by means of programming on the STM32 flight control board.The experimental results show that in comparison with the singlelevel PID,the control system has the advantages of faster response speed and less overshoot,which can basically meet the requirements of outdoor flight.

关 键 词：四轴飞行器 四元数法 PID控制算法 串级PID 姿态控制 微分方程 

分 类 号：TN967.6-34[电子电信—信号与信息处理] TP273[电子电信—信息与通信工程]