基于LQG控制器的四旋翼无人机姿态控制

Attitude Control of Quad-rotor Aircraft Based on LQG

四旋翼无人机是一种性能优良的VTOL(垂直起降)飞行器。以四旋翼无人机作为研究对象,首先根据动力学原理,对滚转角和俯仰角进行建模,在建模基础上,根据现代控制理论设计LQG控制器,并采用LTR技术和试验确定二次最优控制和卡尔曼滤波器中的参数,通过仿真与飞行实验来验证所设计控制器的性能。结果表明,LQG控制器具有较好的动静态性能,用它实现四旋翼无人机的姿态控制是切实可行的。

Quad-rotor UAV is a kind of VTOL （ vertical take-off and hnding） aircraft with good performance. In this paper, the quad-rotor aircraft is mainly discussed. Firstly, the model of roll angle and pitch angle is obtained according to the principle of dynamics. Based on this, according to the modem control theory, LTR technology and experknents are used to determhe the quadratic optimal con- trol and the parameters of kalman fdter. Snulation experiments and flight tests are taken to analyze the performance of the con- troller. And the attitude flight experiments show that, the LQG controller has good dynamic and static performance. It is feasible to use it to realize the four-rotor aircraft attitude control.