摘要
对四旋翼飞行器悬停状态下建立合理动力学模型,为实现四旋翼机悬停飞行时可靠姿态优化控制,提出采用四旋翼机悬停状态建模从单个旋翼受力方法,以四个旋翼转速作为控制量,认为悬停飞行时飞行器自身重力与竖直方向升力完全平衡,在竖直方向上施加一个约束方程,结合其它三个姿态角约束方程,建立起四旋翼机悬停状态下姿态角到旋翼转速的对应方程。利用上述模型,在Matlab软件上对四旋翼机进行悬停时的PID控制联合仿真。仿真结果表明,所建立动力学模型正确有效,更有助于实现四旋翼机悬停状态的姿态优化控制。
Establishing a reasonable dynamic model of four-rotor aircraft in hover is one of the key questions for achieving reliable attitude control of four-rotor aircraft in hover. In this paper, the modeling of four-rotor aircraft started from the kinetic analysis of single rotor. We chose the speed of the four rotors as control parameter, and as- sume that for four-rotor aircraft in hover, the gravity is perfect equal to its lift force. Based on this, we applies a con- straint equation in the vertical direction, combined with the other three angular constraint equation, established the corresponding equations between attitude angular and rotors＇ speed of the four-rotor aircraft, on this basis, employed Matlab/Simulink co-simulation to realize the attitude control simulation for the Four-rotor aircraft in hover. The sim- ulation results show that, the dynamic model is correct and effective, and more helpful in realizing the attitude control of the Four-rotor aircraft in hover.
出处
《计算机仿真》
CSCD
北大核心
2013年第11期41-45,共5页
Computer Simulation
基金
国家自然科学基金项目(51075321)
关键词
四旋翼飞行器
悬停飞行
姿态控制
联合仿真
Four-rotor aircraft
Flight in hover
Attitude control
Co-simulation
