四旋翼飞行器控制系统稳定性能研究

Research on Stability of Quad-Rotor Aircraft Control System

针对四旋翼飞行器是一个复杂的非线性、强耦合且易受干扰的控制系统,稳定性和动态性能存在矛盾,具有良好动态性能的四旋翼却很难达到理想的稳定控制。为解决传统四旋翼设计中只追求保持平稳悬停的静态稳定性,忽略动态调整时稳定性的问题,并克服大幅度干扰信号或姿态调节信号产生的发散式抖动,以及提升四旋翼的稳定性能和抗干扰性能等困难,提出一种采用Ziegler-Nichols方法参数整定PID的四旋翼控制方案,分析系统模型推导出优化的PID参数。实验结果表明,改进方法使四旋翼良好地跟踪给定信号,既能保持平稳悬停,又能应对大幅度动态调整,解决了传统四旋翼不能兼顾静态稳定性和动态稳定性的问题,为提升四旋翼稳定性能提供了一种科学方法。

Quad - rotor aircraft is a complicated nonlinear, strong coupling control system susceptible to interference, and there is a contradiction between flight stability and dynamic performance, so it is difficult to obtain ideal control effect. In the paper, we put forward a control algorithm based on Ziegler - Nichols method to set parameter for quad - rotor aircraft. The system model was analysed for deriving optimizational parameters of PID. Experimental results show that the improved method can make quad - rotor track input signals well. Based on this method, the quad - rotor can keep hovering steadily and cope with large amplitude regulating. This method provides a scientific means for the stability of quad - rotor aircraft control system.