四旋翼飞行器的模型参考自适应控制研究

Research on the Model Referenced Adapting Control of a Quadrotor 

摘要:

针对四旋翼飞行器的姿态控制中的受扰动问题,提出了使用模型参考自适应算法加强四旋翼飞行器的姿态稳定性;常规控制器对四旋翼飞行器受扰时的控制很不理想,模型参考自适应控制器在外部干扰或环境影响出现时,能够结合参考模型,提高控制系统的动态品质;结合动力学模型并加以适当简化,设计了常规反馈控制器和模型参考自适应控制器,并进行了数据仿真实验;结果表明,模型参考自适应控制器能够在很大的范围内有效屏蔽干扰,缩短稳定控制时间,验证该算法在四旋翼飞行器姿态控制中是可行有效的。

Abstract:

In order to solve the problem in the perturbed attitude control of a quadrotor, propose to use the model reference adaptive algorithm to enhance the attitude stability. Conventional controllers were weak to stabilize the attitude from disturbances caused by surroundings. Model reference adaptive controller can combine with the reference model to improve the dynamic quality, when external disturbances appear. Binding kinetics model and appropriate simplification, the conventional feedback controller and the model reference adaptive controller are designed. With the experiment, the simulation results show that, the model reference adaptive controller can effectively shield interference in a large range, shorten the time of stability, verify that the algorithm is feasible and effective in the four rotor aircraft attitude control.