多旋翼倾转定翼无人机的姿态控制

Attitude Control for Multi Tilt-Wing UAV

研究多旋翼倾转定翼无人机在直升机模式下的姿态控制优化问题。为了克服常规PID控制器调节参数繁琐、LQR控制器易受实际环境制约、非线性控制器对建模精度要求高并且计算量大等困难,提出一种采用模型的线性二次高斯方法。首先构建飞行器的姿态角模型,然后再采用卡尔曼滤波器与LQl控制器相结合,设计了线性二次高斯控制器。仿真结果表明,设计的控制器具有良好的稳态和跟踪性能,能够实现飞行器在直升机模式下的姿态角优化控制。

This paper mainly discussed the majorization of the attitude controller design for MTW-UAV in heli- copter model. In order to overcome the complexity of the parameters adjusting of the conventional PID controller, vul- nerable actual environmental constraints of the LQR controller, the requirement of high modeling accuracy and pro- cessing capacity of the nonlinear controller, this paper investiged a model-based LQG. First, the attitude model of the MTV UAV was carried out. Then a Kalman filter-based linear quadratic integral （LQI） controller was proposed. The simulation results show the good stability and tracking performance of the designed controller. It also proves that a model-based control design is very useful for the attitude control for a MTW-UAV.