带机械臂四旋翼飞行器的控制方法研究

Research on Control Method for a Quadrotor with Mechanical Arm

四旋翼飞行器机械原理简单,主要由四个螺旋桨和十字架结构机身组成,是典型的强耦合,非线性欠驱动的六自由度系统。四旋翼飞行器利用四个螺旋桨的转速变化,来控制机身的姿态变化。例如:绕Y轴的俯仰和沿Y轴的左右移动;绕X轴的横滚和沿X轴的前进与后退;绕Z轴的偏航和沿Z轴的上升与下降。四旋翼飞行器的姿态控制是控制系统的核心部分,是热门研究课题。文章的主要内容如下:1.首先对四旋翼飞行器进行了受力分析,通过导航坐标系与机体坐标系之间的变换及Newton-Euler方程对四旋翼飞行器建立运动学模型、动力学模型;2.根据建立的四旋翼飞行器的模型设计研究了基于抗饱和的串联PID控制算法,基于matlab/Simulink中提供的模块对四旋翼飞行器进行模拟仿真实验;3.基于饱和的串联PID控制算法进行仿真实验,结果表明基于抗饱和的串联PID控制算法有良好的动态特性;4.将携带的机械臂考虑成四旋翼无人机在飞行过程中所受的干扰,进行实验。本论文对携带机械臂四旋翼飞行器做了初期的研究,希望后期有更多这方面的学者深入研究。

Thequadrotor with a simple mechanical principle is mainly composed of four propellers and a cross-structure body.It is a typical strong coupling,nonlinear under-actuated six DOF of system.The quadrotor uses the rotational speed of the four propellers to control the attitude change of the fuselage.For example:pitch around the Y axis and left and right movement along the Y axis;roll around the X axis and advance and retreat along the X axis;yaw around the Z axis and rise and fall along the Z axis.The attitude control of the quadrotor is the core part of the control system and is a hot research topic.The main contents of this paper are as follows:1.Firstly,the force analysis of the quadrotor is carried out.The kinematics and dynamics model are established for the quadrotor by the transformation between the navigation coordinate system and the body coordinate system and the Newton-Euler equation.2.According to the model design of the established quadrotor,the series-based PID control algorithm based on anti-saturation is studied.The simulation experiment of the quadrotor is based on the module provided in matlab/Simulink.3.The simulation experiment based on the series-based PID control algorithm based on anti-saturation shows that the series-based PID control algorithm based on anti-saturation has good dynamic characteristics.4.In the experiment,In the experiment,the mechanical arm of the quadrotor UAV was treated as the interference during the flight.during flight.This paper has done an initial research on the quadrotor with mechanical arm.I hope that more researcher in this field will study it in the later stage.