摘要
四旋翼无人机(QUAV)的自主巡线控制是近年来研究热点。介绍QUAV的基本工作原理并详细推导其数学模型,为了解决QUAV巡线飞行及悬停过程中存在的控制精度差、抗干扰能力弱等问题,提出一种基于微分进化(DE)算法的PID姿态控制器。搭建MATLAB/Simulink仿真及基于STM32F407主控芯片的实物平台对算法进行验证。仿真及实验结果表明,采用新型姿态控制器下的自主巡线飞行器系统具有控制精度高,响应速度快以及抗干扰性强的优点。
The autonomous tracking control of Quadrotor Unmanned Air Vehicle is a research hotspot in recent years. Introduces the basic working principle of QUAV and derives its mathematical model in detail. To solve the problems such as poor control precision and weak anti-interference ability in the process of tracking flight and hovering of the QUAV, presents a kind of PID attitude controller based on Differential Evolution algorithm. The MATLAB/Simulink simulation and the physical platform based on STM32 F407 main control chip are set up to verify the algorithm. The simulation and experimental results show that the autonomous patrol aircraft system using the new attitude controller has the advantages of high control accuracy, fast response speed and strong anti-interference.
作者
洪世杰
李嘉欣
侯佳木
杜程茂
李忠兵
HONG Shi-jie;LI Jia-xin;HOU Jia-mu;DU Cheng-mao;LI Zhong-bing(School of Electrical Engineering,Southwest Petroleum University,Chengdu 610500)
出处
《现代计算机》
2018年第11期66-71,共6页
Modern Computer
基金
四川省教育厅重点项目(自然科学)(No.16ZA0065)
四川省大学生创新创业训练计划项目(No.201610615087)
关键词
四旋翼无人机
自主巡线
数学模型
微分进化算法
姿态控制器
Quadrotor Unmanned Air Vehicle
Autonomous Tracking
Mathematical Model
Differential Evolution Algorithm
Attitude Controller
