摘要
设计了四旋翼飞行器PID控制器,通过对位置坐标和姿态角PID控制器参数调节,使与位置和姿态相关的6个自由度的最终输出值与相应的期望值相等,达到设计要求。Matlab仿真实验结果表明:该PID控制器能有效地实现飞行器位置控制和姿态控制,且具有较强的鲁棒性。
A quadrotor PID controller was designed. By adjusting the parameters of the position and attitude angle in PID controllers ,the output values of the final 6-DOF related to the position and attitude were equal to the expected values, and thus the design requirements were achieved. The simulation experiment results of Matlab show that the PID controller can effectively realize the position control and attitude control of the aircraft, and has strong robustness.
作者
焦青松
刘佳
JIAO Qing-song;LIU Jia(Tianjin Key Laboratory of Information Sensing and Intelligent Control, Tianjin University of Technology and Education, Tianjin 300222, China;School of Automation and Electrical Engineering, Tianjin University of Technology and Education, Tianjin 300222, China)
出处
《天津职业技术师范大学学报》
2018年第2期49-53,共5页
Journal of Tianjin University of Technology and Education
基金
国家自然科学基金资助项目(61703307)
天津市应用基础与前沿技术研究计划青年项目(15JCQNJC04200)
天津市高等学校科技发展基金资助项目(JWK1614)
天津职业技术师范大学科研启动基金资助项目(KYQD14032)
