四旋翼无人飞行器串级PD控制器的研究  

Research on Cascade PD Controller of Four Rotor Unmanned Aerial Vehicle

作　　者：林宗炮 LIN Zongpao(Fuzhou Polytechnic,Fuzhou,China,350108)

机构地区：[1]福州职业技术学院,福州350108

出　　处：《福建电脑》2022年第11期35-38,共4页Journal of Fujian Computer

基　　金：福州职业技术学院科研项目(科技类)(No.FZYKJJJC201901)资助。

摘　　要：本文对小型四旋翼飞行器进行建模与控制。首先基于牛顿-欧拉方法对四旋翼无人飞行器进行动力学建模,然后采用基于Proportion Derivative内外环串级的分布式控制系统对飞行器的运动状态进行控制,最后基于简化模型进行了位置跟踪的仿真测试。仿真实验结果表明,基于内外环的Proportion Derivative控制率设计的控制器能够实现对四旋翼无人机飞行器位置和姿态的快速的跟踪,具有较好的控制品质。In this paper, a small four rotor aircraft is modeled and controlled. Firstly, the dynamics model of four rotor unmanned aerial vehicle is built based on Newton Euler method, and then the motion state of the vehicle is controlled by the distributed control system based on Proportion Derivative inner and outer ring cascade. Finally,the simulation test of position tracking is carried out based on the simplified model. The simulation results show that the controller designed based on the Proportion Derivative control rate of the inner and outer loop can track the position and attitude of the four rotor UAV quickly, and has good control quality.

关 键 词：四旋翼无人飞行器 PD控制 轨迹跟踪 内外环串级 

分 类 号：TN108.4[电子电信—物理电子学]