基于增益调度法的倾转旋翼控制系统设计

Design of Tilting Rotor Control System Based on Gain Scheduling Method

针对无人机倾转四旋翼无人机的动力学模型进行分析,以倾转角度为调度参量设计了增益调度控制器,并通过MATLAB软件在平衡点处进行极点配置,计算获得各个平衡点的控制参数。引入速度自适应项,以解决线性化模型时存在的误差;采用误差四元数方法作为控制器的输入量,避免了垂直起降过程中欧拉角奇异问题;通过实验表明该方法具有较好的控制效果。

Analyzing the dynamic model of the tilting four rotor,the gain scheduling controller is designed with tilting angle as the scheduling parameter,with pole allocation by MATLAB software at the equilibrium point,calculating to obtain the control parameters of each equilibrium point.Speed adaptive term is introduced to solve the error in linearization model.The error quaternion method is used as the input of the controller to avoid the ruler angle singular problem while the vertical take-off and landing.Experiments show that this method has better control effect.