小型旋翼无人机建模及航线控制研究  

Research on Modeling and Route Control of Small-scale Rotor UAV

作　　者：尹欣繁 车兵辉[1] 章贵川[1] 彭先敏[1] 罗欢 YIN Xin-fan;CHE Bing-hui;ZHANG Gui-chuan;PENG Xian-min;LUO Huan(Low Speed Aerodynamics Institute,China Aerodynamics Research and Development Center,Mianyang 621000,China)

机构地区：[1]中国空气动力研究与发展中心低速空气动力研究所,四川绵阳621000

出　　处：《火力与指挥控制》2022年第2期140-145,共6页Fire Control & Command Control

基　　金：中国空气动力研究与发展中心基础和前沿技术研究基金支持(PJD20180155)。

摘　　要：航线跟踪精度是无人机飞行性能的重要指标,针对小型旋翼无人机航线控制问题,在姿态控制的基础上采用PID控制算法实现对预设航线的跟踪。以中国空气动力研究与发展中心低速空气动力研究所研究人员搭建的轴距410 mm的小型四旋翼无人机平台为研究对象,通过牛顿-欧拉法建立了小型四旋翼无人机非线性动力学模型。使用MATLAB/SIMULINK工具箱搭建了其非线性动力学模型并对控制算法进行了数值仿真。通过飞行实验验证了PID控制算法的数值仿真结果。实验结果表明采用的控制算法能够有效、可靠的实现小型四旋翼无人机的航线控制,且航线跟踪精度较高、误差较小,满足小型旋翼无人机对航线跟踪的性能需求。Route tracking accuracy is an important index for UAV flight performance.Aiming at the route control problem of small rotor UAV,based on attitude control,PID control algorithm is adopted to realize the tracking of the preset route.A small-scale quadrotor UAV platform with a wheelbase of 410mm is set up by researchers from the CARDC as the research object.First,the nonlinear dynamics model of the small-scale quadrotor UAV is established by Newton-Euler method.Then,MATLAB/SIMULINK toolbox is used to build its nonlinear dynamics model and to carry out numerical simulation of the control algorithm.Finally,the numerical simulation results of PID control algorithm are verified by flight experiments.The experimental results show that the control algorithm adopted in this paper can effectively and reliably achieve the route control of the small-scale quadrotor UAV,and the route tracking accuracy is higher and the error is smaller,so as to meet the performance requirements of the small-scale quadrotor for the route tracking.

关 键 词：无人机 旋翼飞行器 航线控制 数值仿真 飞行实验 

分 类 号：V249.122.3[航空宇航科学与技术—飞行器设计]