基于PX4的复合式VTOL无人机总能量控制系统的研究  

Research on the Total Energy Control System of Composite VTOL UAV Based on Px4

作　　者：鲁博 高杉 王立峰[1] 

机构地区：[1]北方工业大学电气与控制工程学院,北京

出　　处：《动力系统与控制》2020年第2期99-108,共10页Dynamical Systems and Control

摘　　要：本文以PX4飞控系统为基础,针对复合式VTOL无人机在固定翼模式下高度/速度的耦合问题,将总能量控制引入了复合式VTOL无人机的控制系统中。对于总能量控制核心算法进行了推导并设计了符合PX4飞控代码习惯的总能量控制模块,通过Gazebo仿真软件进行硬件在环仿真验证了总能量控制模块对复合式VTOL无人机速度控制和高度控制的解耦有良好的效果。Based on Px4 flight control system, this paper introduces total energy control into the control system of VTOL UAV, aiming at the coupling problem of altitude/velocity in fixed wing mode. The core algorithm of total energy control is deduced, and the total energy control module is de-signed according to Px4 flight control code habit, and the hardware in the loop simulation by the gazebo simulation software verifies that the total energy control module has a good effect on the decoupling of the speed control and height control of the compound VTOL UAV.

关 键 词：复合式VTOL无人机 总能量控制 PX4飞控系统 

分 类 号：O15[理学—数学]