摘要
重心偏移情况下以升力作为输入控制量建立的小型四旋翼飞行器动力学模型结构复杂、控制通道耦合,必须通过更换模型参数适应重心变化来保证姿态稳定。研究了重心偏移对小型四旋翼飞行器飞行姿态的影响,提出一种适用于重心偏移情况的小型四旋翼飞行器动力学模型建立方法,以转矩作为输入控制量,实现了模型中各通道的解耦,模型结构简单,便于仿真验证和控制。对比分析了以升力作为输入控制量和以转矩作为输入控制量所建立的两种模型,并设计相应的PID控制器对系统响应特性进行仿真分析,结果表明,此优化方案在重心偏移情况下,可直接调整输入量适应重心变化保证姿态稳定,对偏移量的补偿更佳准确有效,更具优越性和适用性。
In the case of center of mass offset,the dynamic model which regards lift as the input is very complex.To ensure attitude stability,the model parameters should be changed to adapt for the center of mass changes.The influences of the center of mass offset are researched.This article proposes a modeling method for the small quad-rotor in the case of center of mass offset.By regarding torque as the input,channels of the model do not coupled.The structure of the model is simple,so it is convenient for simulation and control.The two models are compared,analyzed and simulated with PID controller.The results show that the input of the optimized model can be directly changed to adapt for the center of mass changes and the compensation for center of mass offset is more accurate and valid.The optimized model has more advantages and suitability.
出处
《控制工程》
CSCD
北大核心
2013年第S1期158-162,共5页
Control Engineering of China
基金
国家自然科学基金(60804058)
