四旋翼飞控系统设计与仿真

Design and Simulation of Quadrotor Flight Control System

针对无人机自主飞行自适应能力差、抗干扰能力弱等问题,本文设计了一种结合模糊控制及内外环串级PID算法的四旋翼飞控系统。系统基于四旋翼飞行原理建立动力学模型,利用串级PID中的外环调整飞行期望姿态角度,内环调整期望角速度增强飞行鲁棒性,在此基础上进一步加入模糊控制以使系统自适应调整飞行姿态参数和利用Matlab/Simulink建立控制模型并进行仿真。实验的结果表明,该系统能有效增强四旋翼飞行器的自适应能力和鲁棒性。

This paper proposes a quadcopter flight control system that combines fuzzy control and inner and outer loop cascade PID algorithm to address the issues of poor adaptive ability and weak anti-interference ability in autonomous flight of unmanned aerial vehicles.The system is based on the principle of quadcopter flight to establish a dynamic model.The outer loop of the cascade PID is used to adjust the expected attitude angle,and the inner loop is used to adjust the expected angular velocity to enhance flight robustness.On this basis,fuzzy control is further added to enable the system to adaptively adjust the flight attitude parameters.A control model is established and simulated using Matlab/Simulink.The experimental results indicate that the system can effectively enhance the adaptive ability and robustness of quadcopter aircraft.