四旋翼飞行器姿态控制建模与仿真

四旋翼飞行器是典型的欠驱动、非线性、强耦合系统。其姿态控制精度和抗干扰问题一直是研究热点之一。为了实现小型低成本四旋翼飞行器姿态准确控制,详细分析了四旋翼飞行器受力情况,利用牛顿-欧拉方程建立了四旋翼飞行器非线性动力学模型,针对四旋翼飞行器在实际飞行过程中经常会遇到阵风、气流等不确定外界干扰,设计了基于小扰动的PID控制器,并通过对俯仰通道、横滚通道、偏航通道MATLAB/Simulink仿真模型进行仿真测试和结果分析。结果表明:所设计控制算法能够满足四旋翼飞行器姿态控制要求,并具有较好的抗干扰性能。

Modeling and Simulation of Attitude Control of Quadrotor Aircraft

Quadrotor aircraft was a typical underactuated, nonlinear, and strongly coupled system. Its attitude control accuracy and antidisturbance problem were always research hotspots. In order to realize the attitude control of small and lowcost quadrotor aircraft, the force of the quadrotor aircraft was analyzed in detail. The nonlinear dynamic model of the quadrotor was established by using the NewtonEulerian equation. Aiming at the fact that the quadrotor aircraft often encountered uncertain external disturbances such as gusts and airflow during the actual flight, a PID controller based on small disturbances was designed. The simulation test and result analysis of the MATLAB/Simulink simulation models of pitch, roll and yaw channels show that the designed control algorithm can meet the attitude control requirements of quadrotor aircraft and has better antidisturbance performance.