四旋翼前飞模态的频域辨识建模与控制器设计

Frequency-domain Identification Modeling and Control Design of a Quadrotor in Forward Flight

由于四旋翼在前飞模态下的动力学特性与参数同悬停时存在明显差异,导致现有的基于悬停点设计的控制器性能难以满足机动任务中快速性和稳定性的要求,同时还缺少具备理论支撑的参数整定方法。针对这些问题,提出了一种适用于四旋翼前飞模态的频域辨识建模和控制器设计方法,通过频域系统辨识原理和实验,建立较为精确的前飞动力学模型,并结合极点配置法,形成一套姿态控制的内外环整体设计方案,从频域分析角度得到PID参数的解析表达式和整定结果。仿真和实验结果表明,基于频域辨识得到的前飞动力学模型进行极点配置设计姿态控制器,其响应速度较快,系统稳定性较强,信号跟踪准确,控制性能优于常规基于悬停模态手动调参的控制器。

Both characteristics and parameters of quadrotor dynamics in forward flight are different from that in hovering,generating that the controller performance designed at hovering equilibrium is difficult to meet the rapidity and stability requirements in maneuvering missions.Meanwhile,there is also a lack of parameters tuning methods with theoretical support.Aiming at these problems,the paper proposes a frequency-domain identification modeling and control design method for a quadrotor in forward-flight state.The accurate forward dynamics is modeled based on the principles and experiments of frequency-domain system identification.Then combining the pole placement with frequency-domain analysis,an attitude control design scheme for the overall loop is introduced to derive the analytical expressions and tuning results of PID controller.The numerical simulations and flight experiments are carried out to demonstrate the strong stability and well transient behavior of the proposed work,and it can track the desired instructions accurately.In general,its control performance is better than conventional controllers,which are designed and tuned manually in hovering state.