对四轴飞行器的控制算法的分析与仿真

Analysis and Simulation of Control Algorithm for Quadcopter

四轴无人飞行器通过四个旋翼联合驱动实现垂直起降、滚转俯仰等姿态变换,根据机体坐标系和地面坐标系,推导转换矩阵,对系统进行控制输入并得到飞行器的非线性状态模型;基于PID控制算法原理设计一种双闭环PD控制器,在Matlab中进行姿态响应实验,给出位置和姿态角的响应波形,分析算法性能,最终验证设计的可行性。

The four-axis unmanned aerial vehicle is driven by four rotors to realize vertical takeoff and landing,roll pitch and other attitude transformation.According to the body coordinate system and the ground coordinate system,the transformation matrix was derived in the paper,and the system was controlled to input and obtain the nonlinear state model of the aircraft.Based on the principle of PID control algorithm,a double closed-loop PD controller was designed.The attitude response experiment was carried out in Matlab.The response waveforms of position and attitude angle were given,the performance of the algorithm was analyzed,and the feasibility of the design was verified.