摘要
四旋翼无人机因其结构简单,可灵活操作等优点而备受关注,并成功应用在各个行业,特别是在农业植保等领域。本文根据四旋翼无人机的姿态数据解算与融合滤波算法,设计了双闭环级联PID控制器,以实现无人机飞行的稳定性,并利用MATLAB开展软件的仿真实验,验证了所设计控制器的有效性。
Quadrotor UAV has attracted much attention because of its advantages such as simple structure and flexible operation,and has been successfully applied in various industries,especially in agricultural plant protection and other fields.In this paper,according to the attitude data solution and fusion filtering algorithm of the quadrotor UAV,a double closed-loop cascade PID controller is designed to achieve the flight stability of the UAV.The simulation experiment of the software is carried out by using MATLAB to verify the effectiveness of the designed controller.
作者
邵霖文
廖芳
丁黎明
舒薇
何志谦
Shao Linwen;Liao Fang;Ding Liming;Shu Wei;He Zhiqian(School of Electrical and Information Engineering, Huaihua University, Huaihua Hunan 418000,China)
出处
《山西电子技术》
2021年第5期43-46,共4页
Shanxi Electronic Technology
基金
湖南省教育厅科研项目重点项目(18A446)
湖南省科学技术厅科研项目《地方本科院校基于科技创新创业人才培养的研究与实践》(2020RC1013)
国家级大学生创新创业训练项目(S202010548021)
怀化学院重点研究项目(HHUY2019-11)
武陵山片区生态农业智能控制湖南省重点实验室开放课题(ZNKZ2018-2)。
关键词
四旋翼无人机
姿态控制
互补滤波
双闭环级联PID
quadrotor UAV
attitude control
complementary filtering
double closed loop cascade PID
