飞行仿真器四旋翼姿态控制方法研究  

Study of pose control method of quadrotor flight simulator

作　　者：刘祚时[1] 徐燕生 穆鸿书 LIU Zuoshi;XU Yansheng;MU Hongshu(School of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,China)

机构地区：[1]江西理工大学机电工程学院,江西赣州341000

出　　处：《传感器与微系统》2023年第4期59-62,共4页Transducer and Microsystem Technologies

基　　金：江西省研究生创新专项资金资助项目(YC2019-S313)。

摘　　要：针对四旋翼飞行系统具有多输入输出及多变量等特点,设计了基于四旋翼飞行仿真器的反馈线性化线性二次型调节器(LQR)控制器。首先,建立四旋翼飞行仿真器系统模型,然后,以四旋翼仿真器为控制平台和MATLAB/Simulink为实验平台,搭建LQR控制器和反馈线性化LQR控制器模型,并分别使用2种控制方法进行仿真对比分析。仿真结果表明:相比LQR控制,反馈线性化LQR控制方法对四旋翼飞行仿真器的调节时间更短、超调量更小、抗干扰能力更强,具有更优的控制性能。The feedback linearized linear quadratic regulator(LQR)controller based on quadrotor flight simulator is designed for quadrotor flight system with multiple inputs and outputs and multiple variables.The system model of the quadrotor flight simulator is established first,and then the LQR controller and the feedback linearized LQR controller models are built with the quadrotor simulator as the control platform and MATLAB/Simulink as the experimental platform,and the two control methods are simulated and compared respectively.The simulation results show that compared with LQR control,the feedback linearized LQR control method has better control performance with shorter regulation time,smaller overshoot,and better anti-interference capability for the quadrotor flight simulator.

关 键 词：四旋翼飞行仿真器 控制器 反馈线性化 实时控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]