摘要
近年来,随着微控制芯片技术的发展,无人机控制技术也愈发成熟,用途也越来越广泛。无论在军用,商用,民用方面都有不错的发展。四旋翼无人机姿态的控制是无人机控制的核心。四旋翼无人机的动力学模型具有多变量、强耦合、非线性和不确定性等多种因素,使其成为了控制领域比较典型的热门控制对象,越来越多地用来各种控制理论与算法的研究与认证[2-5]。本文对四旋翼无人机进行动力学建模,借助matlab/Simulink搭建实验仿真平台,验证PID控制算法的有效性以及控制系统的抗干扰能力。
In recent years, with the development of micro-control chip technology, drone control technology has become more mature and more widely used. Whether in military, commercial, or civilian, there are good developments. The control of the attitude of the four-rotor UAV is the core of drone control. The dynamic model of the four-rotor UAV has many factors such as multivariable, strong coupling, nonlinearity and uncertainty, making it a popular control object in the control field, and it is increasingly used for various control. Research and certification of theory and algorithms. In this paper, the dynamics modeling of the four-rotor UAV is carried out. The experimental simulation platform is built by matlab/Simulink to verify the effectiveness of the PID control algorithm and the anti-interference ability of the control system.
作者
梁文凯
张晓龙
谢晓全
高鹏
杨磊青
LIANG Wen-kai;ZHANG Xiao-long;XIE Xiao-quan;GAO Peng;YANG Lei-qing(Kunming University Of Science and Technology,Kunming 650604)
出处
《软件》
2020年第1期143-147,共5页
Software
