基于改进动态逆的PX4四旋翼三维轨迹跟踪(英文)

3D Trajectory Tracking of PX4 Quadrotor Based on Improved Dynamic Inversion

针对四旋翼飞行器欠驱动与姿态角变量间强耦合的问题提出了一种改进动态逆方法,即在系统快变量环路中引入模型参考自适应与动态逆相结合的方法。通过建立四旋翼动力学及电机模型推导出姿态角与位置控制律。对该改进方案进行MATLAB仿真分析,与常规动态逆进行比较,并在负载减少10%情况下跟踪给定轨迹,两种方法仿真实验结果表明,改进后的控制结构能较快适应外界干扰及负载的变化,具有更精确的路径跟踪性能。

An improved dynamic inversion method was proposed for the underactuation and strong coupling in attitude variables of the quadrotors, namely, combining model reference adaptive control(MRAC) with dynamic inversion in the fast variable loop in the system. Through the establishment of dynamic model of the quadrotor and motor model, the control law of the attitude angle and position was deduced. The MATLAB simulation for the scheme was analysed and compared with conventional dynamic inversion, and also simulated in the situation that tracking a given tracjectory with a 10% weight reduction from it's load. Simulation with respect to both scheme show that the improved control structure can quickly adapt to external disturbance and mass change and have higher precision tracking performance than conventional ones.