摘要
结合PI控制和LQR控制,设计一种双回路非线性控制器。可有效解决光流位置估计精度较低的问题,使得控制系统在利用光流传感器和惯性导航的同时,实时获取无人机位置信息及其目标平面上的平移光流信息,并将发散光流作为反馈信号传至控制器,以此来实现六旋翼飞行器的姿态控制。选取地面纹理清晰且特征点较多的大理石地面作为目标点平面,并通过实际飞行测试验证了该控制系统的有效性和可行性。由20次实验测试可知,实验测试时飞行稳定定点的位置精度在±3 cm范围内。
Combining PI control and LQR control,we design a dual-loop nonlinear controller.It can effectively solve the problem of low accuracy of optical flow position estimation,so that the control system can obtain the UAV position information and the translation optical flow information on the target plane in real time while using optical flow sensor and inertial navigation.The divergent optical flow was transmitted to the controller as a feedback signal to realize the attitude control of the hex-rotor aircraft.The marble floor with clear texture and many feature points was selected as the target point plane.And the effectiveness of the control system was verified by actual flight tests,which indicated that the control system was feasible.20 experimental tests show that the positional accuracy of the flight stable fixed point during the experimental test is within the range of±3 cm.
作者
刘祚时
饶远
Liu Zuoshi;Rao Yuan(Institute of Mechanical and Electrical Engineering,Jiangxi University of Science and Technology,Ganzhou 341000,Jiangxi,china)
出处
《计算机应用与软件》
北大核心
2020年第7期29-36,共8页
Computer Applications and Software
基金
国家自然科学基金项目(71361014)
江西省研究生创新专项资金项目(YC2018-S325)。
关键词
非线性控制器
光流
姿态控制
六旋翼飞行器
Nonlinear controller
Optical flow
Attitude control
Hex-rotor aircraft
