摘要
基于四旋翼无人机的动力学特性,采用比例-微分(Proportional-Derivative,PD)控制方法,并在AirSim平台上进行了位置跟踪和编队控制的仿真研究。通过PD控制律对无人机的位置进行实时调整,确保其速度控制的稳定性。相比于包含积分项的比例-积分-微分(Proportional-Integral-Derivative,PID)控制,PD控制在无人机任务中具有响应速度快、结构简单的优势。基于此,进一步发展了无人机编队控制算法,采用领导-跟随策略,通过Flask和requests库实现了两个无人机的编队控制。与传统的MATLAB/Simulink模拟相比,AirSim平台能够实时响应真实环境的变化,提升仿真逼真度,验证了此方法在复杂场景中的有效性。
In this paper,based on dynamic characteristics of quadcopter UAV,Proportional-Derivative(PD)control method is used to simulate the position tracking and formation control on the AirSim platform.The stability of UAV’s speed control is ensured by adjusting the real time UAV’s position through the PD controller.Compared with Proportional-Integral-Derivative(PID)control that includes integral term,PD control has the advantages of fast response speed and simple structure in UAV tasks,which can effectively avoid cumulative error problem.Based on this,the UAV formation control algorithm is further developed by adopting a leader-follower strategy,and formation control for two UAVs is implemented using the Flask framework and requests library.Compared with traditional MATLAB/Simulink simulation,the AirSim platform can combine the influence of real environments to provide simulation effects that are closer to practical applications,which verifies the effectiveness of the proposed method in complex scenarios.
作者
郑筱宇
胡敏
赵辉宏
ZHENG Xiaoyu;HU Min;ZHAO Huihong(School of Mathematics and Statistics,Qilu University of Technology(Shandong Academy of Science),Jinan 250353,China)
出处
《齐鲁工业大学学报》
2025年第5期70-75,共6页
Journal of Qilu University of Technology
基金
数据恢复四川省重点实验室开放课题(DRN2307)
2024年齐鲁工业大学(山东省科学院)科教产融合试点工程人才科研项目(11260804)。
