采用显式预测控制的四旋翼姿态控制器设计

Design of Attitude Controller for Quadrotor Using Explicit Predictive Control

围绕四旋翼姿态控制问题,提出一种显式模型预测控制(EMPC)方法。首先对四旋翼无人机进行受力分析,建立数学模型,解耦得到四旋翼姿态模型,然后设计显式预测姿态控制器,包括系统模型的线性化和目标函数的建立,将在线优化问题离线化,在线控制时只需要查找相应的控制区域,通过简单计算就可以得到控制量,减少了在线计算量,并且在一定程度上仍然追求最优解,在MATLAB/Simulink仿真环境中建立了完整的四旋翼非线性仿真模型,验证了设计算法的可行性和有效性。

In recent years,quadrotor is attracted more and more attention in scientific research and industrial fields.The design and implementation of the quadrotor flight control system are always one of the core problems,and attitude control is the basis of whole flight control.An Explicit Model Predictive Control(EMPC)method around the attitude control problem of the quadrotor is presented is this paper.Firstly,the force analysis of the quadrotor is implemented,and the mathematical model is established,the attitude model of the quadrotor is obtained by decoupling.Then,explicit forecast attitude controller is designed,including the linearization of the system model and the establishment of the objective function,the offline and online optimization online control only needs to find the appropriate control area,which can be controlled by simply calculating the amount,reducing the online computation and still pursuing the optimal solution in some degree.A complete quadrotor nonlinear simulation model is established in MATLAB/Simulink simulation environment,and the feasibility and effectiveness of the design algorithm are verified.