一种新型无人驾驶飞行器姿态控制系统

A New Attitude Control System for Unmanned Aerial Vehicle

为了解决无人驾驶飞行器因飞行姿态过大,三轴陀螺仪过载而导致坠毁的问题,提出一种新的飞行器结构,通过优化旋翼布置方式,提高飞行器的灵活性;结合飞行器的结构特性,设计一种新型无人驾驶飞行器姿态控制系统,利用四元数对飞行器姿态进行估计,解决欧拉方程求解慢和万向节锁死的问题;采用四阶龙格-库塔算法近似求解飞行器姿态,利用MATLAB软件搭建飞行器控制系统仿真模型并进行飞行控制测试。结果表明,设计的新型无人驾驶飞行器姿态控制系统可以有效控制飞行器的飞行姿态。

To solve the problem of unmanned aerial vehicle crash caused by the overload of three-axis gyroscope due to the large flight attitude,a new vehicle structure was proposed to improve the vehicle flexibility by optimizing the rotor arrangement.Combining with structure characteristics of the vehicle,a new attitude control system for unmanned aerial vehicle was designed.The quaternion was used to estimate the vehicle attitude,the problems of slow solution and universal joint locking of Euler equations were thus solved.The fourth-order Runge-Kutta algorithm was used to approximate the vehicle attitude.The simulation model of the vehicle control system was built by using MATLAB software,and the flight control test was conducted.The results show that the designed new attitude control system for unmanned aerial vehicle can effectively control the flight attitude of the vehicle.