摘要
针对使用欧拉角进行姿态控制有奇异点问题,提出一种基于姿态矢量的新型控制方法。引入了姿态矢量表示姿态误差的方式,而非通过欧拉角表示姿态误差的方式;并且姿态矢量通过四元数表示,既避免了欧拉角表示刚体旋转的固有几何奇异性,也避免了欧拉角的三角函数解算,为单片机运算处理节约了大量时间;控制器算法设计上采用自抗扰控制(ADRC)技术进一步改进了姿态控制器的性能,实现了复杂的多旋翼机动飞行。对提出的新型姿态控制方法进行分析和讨论,并通过实物验证结果对所提出的基于姿态矢量的新型控制器进行有效性的评价。
A new attitude vector control scheme is proposed for the problem of singular point in the attitude control of Euler angle for quadrotors.The attitude error is represented by the attitude vector,not the Euler angle,so that the inherent geometric singularity of the rotation of the rigid body and the trigonometric function of the Euler angle are both avoided,resulting in significant reduction in computation time for the single-chip microcomputer.In control design,the auto-disturbance rejection control(ADRC)technology is used to further improve the performance of the attitude controller and to realize the complex multi-rotor maneuvering flight.Finally,characteristics of the proposed new method is analyzed and discussed,and the effectiveness of the proposed full attitude vector control is implemented and evaluated in actual physical flights with great success.
作者
罗寓文
朱玉玉
LUO Yuwen;ZHU Yuyu(School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,China)
出处
《传感器与微系统》
CSCD
北大核心
2021年第7期56-59,共4页
Transducer and Microsystem Technologies
