摘要
针对四旋翼飞行器系统具有非线性、强耦合性、多输入的欠驱动以及系统不确定性的问题,提出采用分段串级PID控制策略.将该方法与经典的PID控制相结合,可以很好地消除外部扰动.设计中首先对系统进行了动力学建模和姿态解算,然后对系统硬件和软件进行了优化设计.对该飞行器系统在近地环境下进行了飞行测试,结果表明:完成了垂直起降、悬停、任意旋转等动作,在对其施以外界干扰时能自动调节,并迅速恢复到平稳状态,实现了飞行器平衡稳定的飞行效果.
In view of the problems of nonlinear, strong coupling, multi input underactuated and system uncertainty of the four rotor aircraft system, sectional cascade PID control strategy was presented. The external disturbance could be eliminated commendably by the method combined with the classical PID control. The design of the system dynamics modeling and attitude solution were made, followed by optimizing of the design of system hardware and software. The flight tests at the near-earth environment show that aircraft system can complete the action of vertical takeoff and landing, hovering, arbitrary rotation, and can automatically adjust to a steady state subjected to outside interference, which achieve a balanced and stable flying effect.
出处
《中北大学学报（自然科学版）》
CAS
北大核心
2014年第2期218-224,共7页
Journal of North University of China(Natural Science Edition)
基金
大学生科技创新项目(2013DKC07)
中央高校基本科研业务费专项资金资助
