摘要
目前现有的四旋翼无人飞行器控制系统主要存在鲁棒性差及控制精度低的问题。针对四旋翼无人飞行器控制鲁棒性差的缺点在现有模型的基础上提出了PD(比例-微分)控制算法。首先建立了四旋翼飞行器的模型并且阐述了四旋翼飞行器的飞行机控制原理。然后根据四旋翼飞行器的飞行原理设计了四旋翼飞行的器控制系统,控制系统的设计包括硬件各个功能模块的设计和控制程序的设计,飞行器姿态反馈控制采用PD控制算法。最后通过"微影"一号和"微影"二号验证机分别验证了四旋翼飞行器的飞行原理及基于PD算法的控制系统的性能,基于PD算法使控制系统的鲁棒性有所提升。
The existing quad-rotor helicopter control systems have problems of weak robustness and low control precision,in this paper,PD（proportion-differentiation） control algorithm is proposed based on the existing models to improve the robustness.Firstly,a model for the quad-rotor helicopter is established and the principle of quad-rotor helicopter flight controlling is described.Then,quad-rotor helicopter control system is designed according to the principle of quad-rotor helicopter flight,the design of control system includes the design of hardware module and control codes.PD control algorithm is employed in helicopter attitude feedback control.Finally,the principle of quad-rotor helicopter flight and the performance of the control system based on PD algorithm are validated by experiments on ＂micro-shadow＂ I and ＂micro-shadow＂ II prototypes,the results show that the robustness of the quad-rotor helicopter control system based on PD algorithm is improved.
出处
《机械科学与技术》
CSCD
北大核心
2012年第3期359-362,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
西北工业大学研究生创业种子基金项目资助
关键词
四旋翼飞行器
飞行器控制
PD算法
quad-rotor helicopter
helicopter control
PD algorithm
