基于期望动态的无人机悬停飞行PD控制器设计

Design of PD Controller for Hovering Flight of QUAV Based on Expected Dynamic

提出一种基于期望动态的PD控制器设计方法用于四旋翼无人机的悬停飞行控制.四旋翼无人机的动力学模型在悬停飞行时的线性模型可以简化为一个二重积分过程.在考虑传感器滞后或处理器延迟情况下,基于期望闭环动态特征方程对PD控制器进行参数整定,同时,对输入饱和引起响应超调的现象进行了仿真分析.仿真表明,所提出的PD控制方法对四旋翼无人机悬停飞行是有效的,其飞行动态响应具有满意性能.

A PD controller for hovering flight mode of quadrotor unmanned aerial vehicle(QUAV)based on expected dynamic wasproposed.A double integral model was obtained by linearizing the dynamics model of QUAV in hover flight.Considering the lag ofsensors or time delay of processor,the parameters of the PD controller could be tuned based on the desired closed-loop dynamiccharacteristic equation.Simultaneously,the response overshoot caused by input saturation was also analyzed by simulation.Simulationresults show that the proposed PD controller is effective to control the hovering flight of QUAV and the flight dynamic response is satisfactory.