基于自耦PID控制的四旋翼无人机姿态控制  

Attitude Control of Quadrotor Based on SC-PID Control

作　　者：杨旭 曹立佳 刘洋 YANG Xu;CAO Lijia;LIU Yang(School of Automation and Engineering,Sichuan University of Science&Engineering,Yibin 643000,China;Artificial Intelligence Key Laboratory of Sichuan Province,Zigong 643000,China;School of Computer Science and Engineering,Sichuan University of Science&Engineering,Yibin 64300,China)

机构地区：[1]四川轻化工大学自动化与信息工程学院,四川宜宾643000 [2]人工智能四川省重点实验室,四川自贡643000 [3]四川轻化工大学计算机科学与工程学院,四川宜宾643000

出　　处：《兵器装备工程学报》2021年第10期170-175,共6页Journal of Ordnance Equipment Engineering

基　　金：四川省科技计划项目(2018GZDZX0046,2020YJ0368);自贡市重点科技计划项目(2019YYJC03);四川理工学院人才引进项目(2018RCL18)。

摘　　要：提出了基于自耦PID控制器(self-coupling PID,SC-PID)控制的四旋翼飞行器姿态回路控制方法。建立了四旋翼飞行器非线性数学模型,推导出姿态回路各通道的传递函数。然后,引入了速度因子,结合SC-PID的控制律设计了俯仰通道、滚转通道、偏航通道的飞行控制律。最后,在仿真平台上搭建了仿真模型并进行计算机仿真。试验结果表明:SC-PID控制器可以有效地降低系统的超调量、保障后续控制的稳定性,能够满足四旋翼飞行器姿态回路的控制要求,并且具有良好的控制性能。To reduce the numbers of control parameters of traditional PID control method in attitude control of the quadrotor,a quadrotor attitude loop control method based on self-coupling PID(SC-PID)control was proposed.The nonlinear mathematical model of quadrotor was established and the transfer function of each channel in the attitude loop was derived.Then,the velocity factor was introduced and the flight control law of pith channel,roll channel and yaw channel was designed in combination with the auto-PID control law.The simulation model was built on the simulation platform and the computer simulation experiment was carried out.The test results show that SC-PID controller can effectively reduce the overshoot of the system and ensure the stability of subsequent control.It can meet the control requirements of the attitude loop of four-rotor aircraft and has good control performance.

关 键 词：四旋翼飞行器 SC-PID 飞行控制律 姿态控制 动力学模型 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]