考虑桨叶陀螺效应的四旋翼定点飞行动态面控制

Dynamic surface control for positioning flight of quadrotor considering gyroscopic effect of propeller

针对大型四旋翼桨叶陀螺效应对其运动影响较大的问题,设计了一种动态面控制方法。引入了桨叶陀螺效应对四旋翼不利影响的抵消项,保留传统反馈线性化方法中被抵消的非线性项;基于反推设计的动态面控制律较PID控制方法能实现对模型更为精准的控制,克服未建模动态造成的控制扰动;引入一阶低通滤波器简化控制器设计。仿真结果表明,DSC算法到达平衡点后能迅速收敛,闭环系统稳定性好,克服了经典PID控制算法参数较多、提高快速性后会导致高频振荡等缺点。

For the more gyroscopic effect of propellers on the motion of the large quadrotor problem,a dynamic surface controller was proposed. The counter term was introduced to eliminate the adverse effect on the quadrotor caused by the gyroscopic effect of propellers,which helps to retain the offset useful nonlinear term in traditional feedback linearization method. The proposed controller based on backstepping method was more accurate than the PID controller which helps to overcome the disturbance caused by unmodeled dynamics. Design of the controllers was simplified by using the one-order low pass filters. Simulation results show that the DSC controllers rapidly converge when reaching the equilibrium point and the stability of the closed-loop system is well. The DSC controllers overcome the defect of more control parameters and the high frequency oscillation caused by improving the speedability.