四旋翼飞行器飞行控制分析

Research on the Method of Four-Rotor Aircraft Flying at Fixed Height

本文主要就一种小型四旋翼飞行器的控制实现方案进行研究,可以通过遥控实现四旋翼飞行器平稳起飞降落,控制前进后退,左侧翻右侧翻,左旋转右旋转以及悬停这一系列基本动作。四轴飞行器系统涉及空气动力学,飞行器建模分析,数据融合,导航和控制,电机驱动等领域的相关技术,结合本系统实现对四轴飞行器的控制,主要解决飞行器四轴平稳控制的问题,通过不断优化算法,使得四轴具有一定的抗干扰性和快速恢复平稳的功能。

This paper mainly studies the control realization scheme of a small Four-rotor aircraft,which can take off and land smoothly,control forward and backward,turn left and turn right,rotate left and turn right and hover by remote control.Four-axis vehicle system involves related technologies in the fields of aerodynamics,aircraft modeling and analysis,data fusion,navigation and control,motor drive and so on.Combining with this system,the control of four-axis vehicle is realized.It mainly solves the problem of four-axis stable control of aircraft.Through continuous optimization algorithm,the four-axis vehicle system has a certain degree.Anti-jamming and fast restoring smooth function.