变桨距四旋翼无人飞行器航迹跟踪控制

Path Tracking Control for Variable Pitch Quadrotor UAV

针对传统定桨距四旋翼无人飞行器定桨距机构限制的问题,提出一种变桨距电机旋翼系统。在电机旋翼系统动力学模型的基础上,根据最小二次型最优控制方法设计了变桨距电机旋翼系统控制律,基于牛顿-欧拉方程和四元数运动学,建立了四旋翼飞行器动力学模型,推导了桨距角分配矩阵,设计了航迹跟踪控制律。仿真结果验证了变桨距技术相对定桨距技术在控制响应方面的优势,证明了提出的控制方法能够实现对变桨距四旋翼飞行器的高精度航迹跟踪控制。

Aiming at the limited problem of traditional fixed pitch quadrotor UAV’s fixed pitch structure,a variable pitch motor rotor system is proposed.The control law of variable pitch motor rotor system is designed based on the least quadratic form optimal control and dynamical model of the motor rotor system.Then the dynamics model of variable pitch quadrotor UAV is established on the basis of Newton-Euler equation and quaternion kinematics.Finally,the allocation matrix of pitch angle is deduced and the path tracking control law of variable pitch quadrotor UAV is designed.The simulation results show that variable pitch technology can make the UAV control response and the delay much smaller than the traditional fixed pitch technology,and the control strategy proposed in this paper is proved that it can realize high accuracy path tracking control of the variable pitch quadrotor OAV.