六旋翼无人机的控制分配

Control Allocation of Six-rotor UAVs

以六旋翼无人机为控制对象,针对经典控制分配方法在控制输入值过大时易出现电机转速指令值饱和的缺点,提出一种根据权重进行分配的改进方案。根据控制输入值的变化来实时更新权重系数以避免电机转速饱和。仿真结果表明所提分配方法能提高分配的合理性,抑制各通道的耦合现象,能有效提高六旋翼无人机的抗饱和性,有助于改善无人机的飞行性能。

Taking a six-rotor UAV as the controlled object,and considering the shortcoming of the classical control allocation method that the motor speed command value will become saturate when the control input value is too large,we propose an improved scheme for control allocation according to the weights. The weight coefficient is updated in real time according to the changes of the control input value to avoid saturation of motor speed. The simulation results show that,the proposed method can improve the rationality of allocation,reduce the coupling of each channel,enhance the anti-saturation capability of the six-rotor UAV effectively,and improve the flight performance of the UAV.