四旋翼无人飞行器的分频建模及柔性控制
毕业论文关键词 四旋翼无人飞行器 奇异摄动 非线性动态逆 PID LQR
Title Separate Frequency Modeling and Flexible Control of Quad-rotor Unmanned Aerial Vehicles
Abstract
This paper has implemented control strategy for path tracking control of quad-rotor
unmanned aerial vehicles. Based on Newton-Euler’s laws, the nonlinear
mathematical model of the quad-rotor is represented, and reduced subsystems
(inner-loop and outer-loop models) are obtained via time-scale techniques. The
two subsystems are linearized via nonlinear dynamic inversion approach. The
controlled inner loop via Linear Quadratic Regular control provides stabilization,
decoupling and angular rate control. For outer-loop controller design,
Proportional Integral Derivative control is utilized to ensure desired tracking
performance. The dual loop control structure, aiming at incorporating both
inner-loop and outer-loop control, is adopted to achieve sufficient stability and
tracking performance.
Simulation results indicate the developed flight control system of a quad-rotor
is competent and efficient enough for tracking the reference path. In addition,
actual flight test was carried out. It turns out that the inner-loop has a great
performance. To some degree, it proved that the controller works well.
Keywords Quad-rotor miniature unmanned aerial vehicles singular perturbation
approaches nonlinear dynamic inversion PID LQR
目 次
1 绪论 1
1.1 研究背景及意义 1
1.2 国内外研究现状 1
1.3 本文结构安排 2
2 数学模型 3
2.1 四旋翼飞行器简介 3
2.2 坐标系及飞行器运动参数 4
2.3 飞行器非线性模型 5
2.4 非线性模型的时间尺度分解 7
3 控制器设计 11
3.1 非线性动态逆 11
3.2 内环快子系统控制器 12
3.3 外环慢子系统控制器 14
3 . 4 组合控制器 16
3 . 4 设计步骤 16
4 仿真实验 18
4.1 S imu l i n k 仿真系统搭建 18
4.2 仿真结果 19
5 实际飞行试验 22
5 .1 系统硬件平台 22
5 .2 系统软件平台 23
5 . 3 飞控程序编写 23
结论 28
致谢 29
参考文献 30
附录 A 主要研究成果 32
1 绪论
1.1 研究背景及意义
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