四旋翼无人侦察器轨迹跟踪控制研究  

Research on Trajectory Tracking Control of Quadrotor Unmanned Reconnaissance

作　　者：仇杰 邱亚峰[1] 顾捷 王月华 QIU Jie;QIU Ya-feng;GU Jie;WANG Yue-hua(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing Jiangsu 210094,China)

机构地区：[1]南京理工大学机械工程学院,江苏南京210094

出　　处：《计算机仿真》2021年第10期333-337,366,共6页Computer Simulation

摘　　要：针对在系统动力参数不确定、干扰随机性的情况下,对四旋翼无人侦察器非线性模型进行有效控制的问题,建立了侦察器的动力学模型,并提出了一种基于双层回路的非线性控制器设计方法。其外层回路中设计了基于模糊PID(proportional-integral-derivation)控制的控制器来实现高度和位置跟踪;内层回路中利用滑模控制器来实现姿态稳定控制。仿真结果表明,设计的控制器能够使无人侦察器的运动轨迹和姿态角快速收敛到期望值且稳定在较小的误差范围内,具有较好的适应性和鲁棒性。Aiming at the problem that the nonlinear model of the four-rotor unmanned reconnaissance is effectively controlled under the condition of uncertain system dynamic parameters and randomness of disturbance,the dynamic model of the reconnaissance is established and a nonlinear controller design method based on a double-layer loop is proposed.In the outer loop,a controller based on fuzzy PID(proportional-integral-derivation)control was designed to realize height and position tracking;in the inner loop,a sliding mode controller was used to realize attitude stabilization control.The simulation results show that the controller designed in this paper can make the motion trajectory and attitude angle of the unmanned reconnaissance quickly converge to the expected value and stabilize within a small error range,which has better adaptability and robustness.

关 键 词：四旋翼无人侦察器 动力学模型 模糊比例积分微分控制 滑模控制 

分 类 号：TP273.4[自动化与计算机技术—检测技术与自动化装置]