关于四旋翼无人机姿态优化控制仿真研究

The Simulation Research on Optimizing Attitude Control for Quadrotor

在四旋翼无人机飞行控制系统的研究中,针对某四旋翼无人机进行了姿态优化控制的研究,为了改善四旋翼无人机在飞行过程中姿态的稳定性、动态跟踪特性和抗干扰能力,综合运用动态矩阵控制(DMC)的模型预测控制和串级PID控制实现了对某四旋翼无人机的三轴姿态和高度稳定优化控制律设计和优化。控制律外回路为DMC预测控制器,通过对控制量进行滚动优化和反馈校正提高系统控制精度。内回路为串级PID控制,为DMC预测控制器提供稳定的被控对象和合理的预测模型。通过使某个电机动力部分损失的形式加入干扰,完成数字仿真。数字仿真和实际飞行实验表明,与串级P1D控制相比,经模型预测优化控制后的四旋翼无人机姿态调节时间更短、跟踪性能更好。

In study on flight control system of quadrotor, in order to improve the stability, dynamic tracking characteristics and anti -interference ability, the research of optimizing control of attitude is important. In this paper, an novel compound control logic for quadrotor altitude is presented, which combines cascaded PID with dynamic matrix control（DMC）. Two cascaded control loops are included, the outer is DMC prediction controller which is exerted to promote the altitude accuracy of quadrotor by use of feedback tuning and receding horizon optimization; the inner is the cascaded PID which provides the prediction model for DMC. The digital simulation was completed under the con- dition of the partial power loss for a motor. Compared with the cascade PID control method, the digital simulation and flight experimental results show that the optimizing method has better stability and better tracking performance.