基于风干扰的四旋翼无人机飞行位置控制方法研究  

Research on the Flight Position Control Method of a Quadrotor UAV Based on Wind Interference

作　　者：夏昊天 贾君瑞 石冬剑 许鹏鹏 XIA Hao-tian;JIA Jun-rui;SHI Dong-jian;XU Peng-peng(School of Intelligent Manufacturing and Information Technology,Jiangsu Shipping College,Nantong 226010,China;School of Naval Architecture and Ocean Engineering,Jiangsu Shipping College,Nantong 226010,China)

机构地区：[1]江苏航运职业技术学院智能制造与信息学院,江苏南通226010 [2]江苏航运职业技术学院船舶与海洋工程学院,江苏南通226010

出　　处：《江苏航运职业技术学院学报》2024年第4期28-32,共5页Journal of Jiangsu Shipping College

基　　金：南通市社会民生科技计划项目(MSZ2022167);江苏航运职业技术学院科技课题(HYKY/2021B04);江苏航运职业技术学院大学生创新创业培育计划项目(PY2023096X)。

摘　　要：四旋翼无人机在室外作业过程中常常会受到风干扰因素的影响从而破坏其位姿状态。针对传统四旋翼无人机在风干扰情况下的位置控制问题,提出了基于模型预测的四旋翼无人机飞行位置控制算法。通过仿真分析表明,该算法可以有效提升四旋翼无人机在风干扰下位姿动态响应能力和稳态性能,增强无人机的抗风作业能力。During outdoor operations,quadrotor unmanned aerial vehicles(UAVs)are often affected by wind interference factors,which disrupt their pose states.This issue has also attracted the attention of many scholars both at home and abroad.Aiming at the problem of position control of traditional quadrotor UAVs under wind interference,a flight position control algorithm for quadrotor UAVs based on model prediction is proposed.Simulation analysis shows that this algorithm can effectively improve the dynamic response ability of the pose and the steady-state performance of quadrotor UAVs under wind interference,and enhance the wind resistance operation ability of UAVs.

关 键 词：四旋翼无人机 风干扰 算法 位置控制 

分 类 号：V279[航空宇航科学与技术—飞行器设计]