四旋翼航迹跟踪控制与仿真

Tracking Control and Simulation of Quadrotor

四旋翼是一种运用广泛的飞行器,轨迹跟踪控制是四旋翼的研究热点。为了实现四旋翼对轨迹的精确跟踪,基于非线性制导算法进行轨迹跟踪控制。建立了四旋翼运动学模型,并介绍了基于非线性制导算法的轨迹跟踪控制。建立了非线性制导算法的带宽与速度和导引长度的关系,通过计算四旋翼姿态控制器带宽与期望航迹带宽,并根据香农采样定律求解出了非线性制导算法导引长度的取值限制范围。仿真结果表明,采用在取值限制范围内的导引长度,能够稳定快速地收敛到期望航迹,拐弯处航迹误差小于1.5 m,此时,四旋翼有最优的航迹跟踪效果。

Quadrotor is a widely used aircraft.Trajectory tracking control is a hot topic in the research of quadrotor.In order to achieve precise trajectory tracking of the quadrotor,the trajectory tracking control based on a nonlinear guidance algorithm is adopted.A quadrotor kinematics model is established,and the trajectory tracking control based on a nonlinear guidance algorithm is introduced.The relationship between the bandwidth of the nonlinear guidance algorithm and the velocity and the relationship between it and the guidance length are established.By calculating the bandwidth of the attitude controller and the expected track bandwidth,and according to the Shannon sampling law,the limited range of the guidance length of the nonlinear guidance algorithm is obtained.The simulation results show that by using the guidance length within the limited value range,the desired track can be converged stably and rapidly,and the track error at the corner is less than 1.5 m,and the quadrotor has the optimal trajectory tracking effect.