四旋翼无人机建模及其四元数控制律设计

Modeling and control for a quadrotor UAV based on quaternion

对四旋翼无人机进行建模与控制。在建模时采用了物理机理建模方法,尤其是对电机和螺旋桨进行了详细的建模,然后应用四元数对所建的模型进行了姿态角的控制。首先将欧拉角转换为四元数,然后求出误差四元数,接着由误差四元数推导出所要转动的角度和所要绕的轴。在此基础上,又对各个方向上的速度进行了控制,并与PID控制结果进行了对比。仿真结果表明,基于四元数的控制律更能有效地控制四旋翼速度较大的情况。

The modeling and control for a quadrotor UAV are presented in this paper.The theoretic methods are used to model the UAV,and the models for the motors and the rotors of the vehicle are described in detail.Quaternions are used to present the vehicle＇s model for attitude control.The Eular angles are first transformed into quaternions,and the error quaternions are calculated.The required angles and axis are derived from quaternions.The velocity controllers based on quaternions in each direction are designed,and compared with PID controllers.The result shows that the control laws based on quaternions are more effective in controlling the UAV at high speed.