四旋翼无人机的工业应用与控制器设计研究

Industrial Application and Control Design of Quadrotor Unmanned Aerial Vehicle

无人机得益于其机身尺寸等因素,具有体积小、高机动性等优越性能。随着传感器与控制技术的不断地发展与成熟,无人机在工业领域得到越来越多的应用,例如安防、巡检、测绘等。为了实现对无人机高精度的控制,对无人机的控制系统进行了研究,在构建无人机非线性动力学方程的基础上,采用准LPV算法对状态方程进行线性化,从而得到系统的传递函数,并在此基础上,采用PID控制算法,分别设计了垂直、俯仰、滚转与偏航角通道的控制器结构参数。采用Matlab软件进行控制系统仿真,从而验证了无人机控制系统设计的有效性。

Unmanned aerial vehicle(UAV) benefits from its body size and other factors,with small size,high maneuverability and other superior performance.With the continuous development and maturity of control and sensor technologies,UAVs are increasingly used in industrial fields,such as emplacement,inspection,surveying and mapping,etc.In order to realize high precision control for unmanned aerial vehicle in this paper,the control system of UAV is studied.In the construction of UAV,on the basis of nonlinear differential equation,the quasi LPV algorithm is used to linearize the nonlinear equations to obtain the system transfer function.Then,controller structure parameters are designed for channel of the vertical design,pitch,roll and yaw angle,respectively.MATLAB software is used to simulate the control system,which verifies the effectiveness of the design of the UAV control system.