微小型无人直升机建模与航迹跟踪控制  

Modeling and Tracking Control of Miniature Unmanned Helicopter

作　　者：聂航 代冀阳[1] 应进[1] 孙翊君 NIE Hang;DAI Ji-yang;YING Jin;SUN Yi-jun(School of Information Engineering,Nanchang Hang Kong University,Nanchang Jiangxi 330063,China)

机构地区：[1]南昌航空大学信息工程学院,江西南昌330063

出　　处：《计算机仿真》2022年第2期10-16,共7页Computer Simulation

基　　金：国家自然科学基金资助项目(61663032);江西省自然科学基金资助项目(20151BAB207043);南昌航空大学研究生创新专项基金资助项目(YC2018024);南昌航空大学研究生创新专项基金资助项目(YC2019020);江西省教育厅自然科学基金资助项目(DA201404278)。

摘　　要：无人直升机航迹跟踪控制系统对控制器性能要求较高,而现阶段很多控制器对复杂航迹跟踪效果一般,误差较大,很难为真实无人直升机航迹飞行提供理论依据。针对上述问题,首先,对无人直升机外部进行PID控制器设计,并针对PID控制器提出一种改进粒子群算法对控制器进行参数整定。然后,采用改进人工势场法的航迹与无人直升机模型相结合的方式,验证控制器的性能优劣。在航迹规划过程中预留出无人直升机安全距离,并将人工势场法航迹作为期望轨迹,实时输入到无人直升机模型中。最后,仿真结果表明,无人直升机的真实轨迹与期望轨迹基本保持一致,跟踪误差轨迹收敛度较高,且顺利到达目标点,同时也验证了提出算法的可行性与响应的快速性。The unmanned helicopter track tracking control system has high requirements on the controller performance. At the present stage, many controllers have a general track tracking effect with a large error. It is difficult to provide a theoretical basis for the real unmanned helicopter track flight. To solve this problem, firstly, the external PID controller of the unmanned helicopter is designed, and an improved particle swarm optimization algorithm is proposed to set the parameters of the controller. Then, the performance of the controller is verified by combining the trajectory of the improved artificial potential field method with the unmanned helicopter model. In the course of track planning, the safe distance of unmanned helicopter is reserved, and the track of artificial potential field method is taken as the expected track, which is input into the unmanned helicopter model in real-time. Finally, the simulation results show that the real trajectory of the unmanned helicopter is basically consistent with the expected trajectory, the tracking error trajectory has a high degree of convergence, and the unmanned helicopter reaches the target point successfully. Meanwhile, the feasibility of the proposed algorithm and the rapidity of the response are also proved.

关 键 词：无人直升机 比例积分微分 改进粒子群算法 改进人工势场法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]