小型四旋翼无人机建模与控制仿真

Modeling and Simulation of Microquadrotor UAV

小型四旋翼无人机是一种具有六个自由度和四个输入的欠驱动强耦合飞行器,四只旋翼对称均匀分布在十字架结构的四个端点上,仅通过改变四只旋翼的转速即可改变飞行姿态.基于微型四旋翼无人机特有的机械结构和飞行原理,为提高其飞行性能和控制的稳定性,利用牛顿—欧拉方程,建立小型四旋翼飞行器的非线性动力学方程,并针对该模型设计一解耦PID四通道控制系统,且在Matlab/Simulink仿真平台上,对该PID控制系统进行仿真.仿真结果表明:通过改变旋翼的转速可实现四旋翼飞行器姿态的控制,同时该非线性模型和PID控制系统为其后续的四旋翼无人机的控制研究奠定了一定的基础.

Microquadrotor UAV is a underactuated system with six degrees of freedom and four drivers and strong coupling system with four rotors distributing in cruciform structure symmetrically and uniformly. The flight attitude can be controlled by the variant rotor speeds of changing the lift forces. On the basis Qf the unique mechanical structure and flight principle of the microquadrotor UAV, Newton-Euler equation is used to establish the nonlinear dynamic equation in order to improve its flight performance and control sta- bility. A decoupling PID four-channel control system is designed according to the model, and it is simulated by Matlab/Simulink software. The result indicates that the flight attitude of quadrotor UAV can be controlled by changing the rotor speed andthe model and PID control system can lay a good foundation for the study of quadrotor UAV later.