基于PID算法的开源小四轴飞行器控制系统设计
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摘要
在实际飞行中,飞行器经常受到外部气流的影响,这会使飞机的位置偏离预期目标。为了实现四旋翼飞行器的稳定飞行,首先从牛顿-欧拉方程寻找规律,建立四旋翼飞行器动力学数学模型,然后结合线性变参数的方法将非线性的模型进行线性化处理,设计PID控制器并计算出对应通道上的传递函数。在Matlab/Simulink平台中建立对应的模型并仿真,对仿真结果进行分析,得出的结论验证了PID算法的有效性。
In actual flight, the aircraft often deviated from the desired target under the influence of the external airflow. In order to realize the stable flight of the quad rotor, we first established the dynamics mathematical model of the quad rotor with the law from the Newton-Euler equation, and then per formed the non-linear model established linearization with the linear variable parameter method. We designed the PID controller and calculated the transfer function on the corresponding channel for the model established. The corresponding model was built in the Matlab/Simulink plat form and simulated. The simulation results verified the effectiveness of the PID algorithm.
In actual flight, the aircraft often deviated from the desired target under the influence of the external airflow. In order to realize the stable flight of the quad rotor, we first established the dynamics mathematical model of the quad rotor with the law from the Newton-Euler equation, and then per formed the non-linear model established linearization with the linear variable parameter method. We designed the PID controller and calculated the transfer function on the corresponding channel for the model established. The corresponding model was built in the Matlab/Simulink plat form and simulated. The simulation results verified the effectiveness of the PID algorithm.
引文
[1]王卉,李丽霞,刘慧洁,等.基于四旋翼飞行器的光流法动态目标检测[J].沈阳工程学院学报:自然科学版,2017,13(1):76-81.
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[3]聂博文.微小型四旋翼无人直升机建模及控制方法研究[D].长沙:国防科学技术大学,2006.
[4]王丽新.基于滑模理论的四旋翼直升机的姿态控制研究[D].沈阳:东北大学,2009.
[5]吴森堂,费玉华.飞行控制系统[M].北京:北京航空航天大学出版社,2005.
[6]吴中华,贾秋玲.四旋翼几种控制方法研究[J].现代电子技术,2013,36(15):88-94.
[2]王树刚.四旋翼直升机控制问题研究[D].哈尔滨:哈尔滨工业大学,2006.
[3]聂博文.微小型四旋翼无人直升机建模及控制方法研究[D].长沙:国防科学技术大学,2006.
[4]王丽新.基于滑模理论的四旋翼直升机的姿态控制研究[D].沈阳:东北大学,2009.
[5]吴森堂,费玉华.飞行控制系统[M].北京:北京航空航天大学出版社,2005.
[6]吴中华,贾秋玲.四旋翼几种控制方法研究[J].现代电子技术,2013,36(15):88-94.