可倾转四旋翼飞行器动力学建模与反步控制

Dynamic Modeling and Backstepping Control of Tilting Quadrotor Aircraft

针对常规四旋翼飞行器由于欠驱动而引起的耦合问题,设计了旋翼可绕臂进行单轴倾转的过驱动系统,并提出了新的旋翼转向方案。对该倾转四旋翼飞行器进行了六自由度动力学建模,且重点研究了零姿态角改变位移和零位移改变姿态角两种特征运动模态。设计了反步控制器,并在Simulink中对两种运动状态进行仿真,结果表明该倾转四旋翼飞行器能够有效实现位姿解耦,具备更好的运动性能。最后,将反步控制和PID控制结果对比,结果表明反步控制器拥有更稳定的性能。

Aiming at the coupling problem caused by underactuating of conventional quadrotor aircraft,this paper designs an overdrive system in which the rotor can tilt around the arm on a single axis,and proposes a new rotor steering scheme.The six-degree-of-freedom dynamic modeling of the tilting quadrotor aircraft is carried out,and two characteristic motion modes of zero attitude angle change displacement and zero displacement change attitude angle are mainly studied.A backstepping controller is designed,and two motion states are simulated in Simulink.The results show that the tilting quadrotor aircraft can effectively realize the decoupling of the position and attitude,so that the aircraft has better motion performance.