四旋翼无人飞行器控制律设计与仿真  

Quad-rotor UAV control system design and simulation

作　　者：王佩臣[1] 王强[2] 张可为[1] 樊玉环[1] 张志维 WANG Peichen;WANG Qiang;ZHANG Kewei;FAN Yuhuan;ZHANG Zhiwei(School of Science,Heilongjiang Institute of Technology,Harbin 150050,China;School of Automobile and Traffic Engineering,Heilongjiang Institute of Technology,Harbin 150050,China)

机构地区：[1]黑龙江工程学院理学院,哈尔滨150050 [2]黑龙江工程学院汽车与交通工程学院,哈尔滨150050

出　　处：《黑龙江工程学院学报》2023年第2期1-7,21,共8页Journal of Heilongjiang Institute of Technology

基　　金：国家自然科学基金项目(11372080);黑龙江省自然科学基金项目(QC2011C020);黑龙江省省属本科高校基本科研业务费科研项目(2021GJ10);黑龙江省教育厅科学研究项目(12531546)。

摘　　要：四旋翼无人飞行器已经得到了广泛应用,其控制律设计的重要性日渐凸显。在构建四旋翼飞行器六自由度动力学模型的基础上,分别设计了基于PID控制和线性自抗扰两套控制律。首先给出基于PID控制的四旋翼控制律,对四旋翼的各个通道设计PID控制律,并进行六自由度仿真分析,随后给出基于线性自抗扰控制的四旋翼控制律,针对每个通道设计自抗扰控制回路,进行六自由度仿真分析,基于仿真结果对两者的控制效果进行对比,最终结果表明自抗扰控制方法可以有效地抑制超调且响应速度更快。Quadcopter Unmanned Aerial Vehicles have been widely used in contemporary times,and the importance of their control system design is becoming increasingly prominent.Based on this background,this paper constructs a six-degree-of-freedom dynamic model of a four-rotor unmanned aerial vehicle,and designs two sets of control systems based on PID control and linear self-disturbance immunity respectively.Firstly,the four-rotor control system based on PID control is given,PID control law is designed for each channel of the four-rotor,and six-degree-of-freedom simulation analysis,then the four-rotor control system based on linear self-immunity control is given,for each channel design a self-disturbance control loop,six degrees of freedom simulation analysis,based on the simulation results of the control effects of the two comparative study,and the final results show that the self-disturbance immunity control method can effectively suppress overshoot and have faster response.

关 键 词：四旋翼无人飞行器 PID控制 线性自抗扰控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]