姿态控制系统设计与仿真

The Design and Simulation of Attitude Control System

在刚性运动学建模的基础上,根据PID控制理论针对俯仰、偏航、滚转通道分别设计控制器,进行姿态控制。在设计好控制器的基础上,再分别设计干扰补偿器,利用前馈补偿,减弱干扰对系统性能的影响,改善其控制性能,并设计仿真平台,进行仿真验证。

Based on rigid kinematics modeling and PID Control Theory, the controllers for pitch, yaw and roll channel are designed respectively to control their attitudes. On the basis of the well-designed controllers, interference compensators are designed respectively so that feed-forward compensation can be used to decrease the performance, and finally interference effect on the performance of the system, improving the control a simulation platform is designed to test and verify the results.