四旋翼无人直升机控制算法仿真比较研究

Comparative Study on Simulation of Four-rotor Unmanned Helicopter Control Algorithm

通过仿真技术比较研究了四旋翼无人直升机悬停及轨迹跟踪控制问题。由于无人机飞行环境复杂,受外界干扰较大,影响姿态的稳定性。采用PID控制、反演算法和积分反演算法控制四旋翼无人直升机的悬停和轨迹跟踪,对控制效果进行了仿真比较。利用Simulink建立了四旋翼无人直升机仿真平台,将PID控制、反演算法和积分反演算法分别应用到仿真平台上,对四旋翼无人直升机悬停和轨迹跟踪模型进行仿真。通过仿真对比发现,在悬停方面PID控制效果要优于反演和积分反演算法,而积分反演算法在轨迹跟踪方面优于PID和反演算法。

This paper mainly achieved comparative study of four rotor helicopter hover and trajectory tracking control problem. The environment of UAV is complicated, and is affected by external interferences. The paper used PID algorithm, backstepping algorithm and integral backstepping algorithm to solve the hover and trajectory tracking control problem. By analyzing the actual four rotor helicopter, a four rotor helicopter simulation platform was es tablished using MATLAB/Simulink tools, and then PID algorithm, backstepping algorithm and integral backstepping algorithm were applied to the platform. The experimental results show that the simulation platform provides a compari son of three control algorithms, and PID is the best in hovering, and integral backstepping algorithm is the best in trajectory tracking.