基于PID和LQR的四旋翼无人机控制系统研究

Research on Four-Rotor UAV Control System Based on PID and LQR

为提高四旋翼无人机的飞行稳定性、无人飞行器控制系统的鲁棒性和控制精度,以建立的四旋翼无人机飞行控制系统模型为基础,采用现代控制理论与传统控制论相结合的方法,针对姿态角速率、姿态角分别设计内环LQR(线性二次型调节器)控制器,及外环PID控制的双回路闭环控制器。充分利用PID控制器易于掌握且对模型要求精度低、LQR控制器能改善内回路的动态特性和稳态性能的特点,完成四旋翼无人机的飞行控制。通过实验遴选该双闭环控制器相关参数并进行优化,实验结果表明所设计的双回路控制器控制性能指标良好。

To improve the flight stability of four-rotor unmanned aerial vehicle （UAV） and robustness and controlling precision of the control system, a four-rotor light UAV control system model is established. Based on that, an inner loop LQR （linear quadratic regulator） controller and an outer loop PID double closed loop con- troller are designed for attitude angle rate and attitude angle respectively by combing modern control theory with the traditional control theory. The design makes full use of the advantages of easy mastering, low model precision requirement of the PID controller, and the fact that LQR controller can improve the dynamic and steady-state performance of the inner loop, to meet the four-rotor UAV flight control requirements. Experiments are conducted to determine the related parameters of the double closed-loop optimal controller, the experimental results verified the performance of the dual-loop controller.