系留四旋翼无人机串级PID控制  

Cascade PID Control of Tethered Quadrotor UAV

作　　者：刘浩浩 张素侠[1] LIU Haohao;ZHANG Suxia(School of Mechanical Engineering,Tianjin University,Tianjin 300354,China)

机构地区：[1]天津大学机械工程学院,天津300354

出　　处：《机械科学与技术》2025年第3期545-551,共7页Mechanical Science and Technology for Aerospace Engineering

摘　　要：系留无人机飞行过程中,缆绳对无人机作用有变化的拉力,严重时会引起无人机的坠毁,故设计系留无人机控制器时必须考虑缆绳张力的影响。将缆绳张力大小近似为与无人机飞行高度成正比,建立系留四旋翼无人机的简化六自由度数学模型,设计串级PID控制器进行仿真分析,并搭建系留四旋翼无人机模型测试系统进行微风环境下的实验测试。结果表明:微风环境下,设计的串级PID控制器可以使系留无人机达到良好的飞行效果,且缆绳对系留无人机平台的拉力主要与无人机的飞行高度有关,对缆绳拉力的处理方法可行。During the flight of tethered unmanned aerial vehicle(UAV),the cable acts a varying tension on the UAV,which usually causes the crash of UAV in serious cases.Therefore,the influence of cable tension must be considered in the design of tethered UAV control algorithm.In this research,the cable tension is approximately proportional to the flight height of the UAV,the simplified six degree of freedom mathematical model of the tethered quadrotor UAV is established,the cascade PID controller is designed for simulation analysis and the tethered quadrotor UAV model test system is built for experimental testing in the breeze environment.The results show that the cascade PID controller designed can make the tethered UAV achieve good flight effect in the breeze environment,the cable tension acted on the tethered UAV platform is mainly related to the flight height of the UAV,so the treatment method of cable tension is feasible.

关 键 词：系留四旋翼无人机 缆绳张力 数学模型 串级PID控制 实验测试 

分 类 号：V279[航空宇航科学与技术—飞行器设计]