基于ADAMS模型的四旋翼飞行器悬停控制研究

Hovering Control Research of Quadrotor Based on ADAMS Model

针对四旋翼飞行器悬停控制问题,采用ADAMS(automatic dynamic analysis of mechanical system)搭建了四旋翼飞行器的非线性数学模型,并将模型导入Matlab中,采用PID控制策略对飞行器的飞行姿态和悬停状态进行控制.为了验证控制器的抗干扰性能,在飞行器平稳飞行的情况下对四旋翼飞行器的任一电机加入干扰电压信号后,飞行器能够迅速回到平稳状态.仿真和实验结果表明:所设计的控制器对于四旋翼飞行器具有响应速度快、超调小、鲁棒性强等特点;所采用的联合仿真方法效果直观.

Aiming at the hovering control problem of the quadrotor,the nonlinear mathematical model of the quadrotor was established by using the ADAMS(automatic dynamic analysis of mechanical system)model,and the established model was imported into MATLAB.The PID control strategy was adopted to control the flight attitude and hovering state of the quadrotor.In order to verify the anti interference performance of the controller,an interference voltage signal was added to any motor of the quadrotor when the quadrotor was flying smoothly.It was found that the quadrotor quickly returned to a stable state with the interference.The simulation and experimental results show that the designed controller has the characteristics of fast response,small overshoot and strong robustness.The joint simulation method adopted in this study is intuitive.