四旋翼无人机悬停控制设计

Hovering Control Design of Four-rotor UAV

通过对四旋翼无人机的飞行原理分析,建立了无人机的非线性动力学模型,对模型进行简化和线性化处理后,设计了PD控制器,经仿真验证,该控制器能够实现对四旋翼无人机的高度跟踪控制和姿态稳定控制,且对模型参数摄动具有较好的鲁棒性,满足飞行动态性能需求。

Through the analysis of the flight principle of the Four-rotor UAV, the non-linear dynamic model of the UAV is established. After simplifying and linearizing the model, the PD controller is designed. The simulation results show that the controller can realize the altitude tracking control and attitude stability control of the Four-rotor UAV, and has good robustness to the model parameter perturbation and meets the flight dynamics.