倾轴四旋翼飞行器建模及控制仿真

Modeling and Control Simulation of a Tilting Quadrotor Aircraft

传统四旋翼属于欠驱动系统,倾轴四旋翼模型对其欠驱动特性进行了改进,可以实现更加灵活的飞行动作。针对倾轴四旋翼模型的控制实现问题及外部扰动影响,首先基于牛顿-欧拉法对倾轴四旋翼模型进行建模,将控制系统划分为位置控制及姿态两个独立模块,位置模块在反步控制基础上设计积分型滑膜面,姿态模块基于SO(3)中的姿态误差设计滑膜几何姿态控制器,最后对该模型的控制实现效果进行验证与分析。仿真结果表明:基于上述模型采取的控制方法实现了倾斜悬停,验证了该控制方法抑制干扰的有效性。

The traditional quadrotor belongs to underactuated systems,and the tilting quadrotor model improves its underactuated characteristics which can achieve more flexible flight movements.Aiming at the control realization of the tilting quadrotor model,this paper first models the tilting quadrotor model based on Newton Euler method,and divides the control system into two independent modules:position control module and attitude module.The position module designs an integral sliding mode manifold based on backstepping control,and the attitude module designs a sliding mode geometric attitude controller based on the attitude error in SO(3).Finally,the control realization effect of this model is verified and analyzed.The simulation results show that the control method based on the model realizes the tilting hover,and the effectiveness of the control method to suppress interference is verified.