系留旋翼平台建模与控制技术研究

Study of Modeling and Control for a Tethered Quadrotor

摘要:

文章提出了一种系留旋翼平台,首先介绍了系留旋翼平台与普通旋翼飞行器之间在结构和控制方式的异同点,其次针对系留旋翼平台进行动力学分析并建立其动力学模型,然后依据所建立模型采用PID控制方法对姿态、偏航以及位置进行控制,最后对系统进行了Simulink仿真,仿真结果证明系统采用模型和控制器,控制效果良好,对实际设计具有指导作用。

Abstract:

The paper introduces the tethered quadrotor. The first, it gives the similar and different points of frame and control between tethered and general quadrotor. The second, it analyses the dynamics and modeling of the system plat. The third, PID control low is applied to the pitch, roll, yaw and position control. At last, the paper gives the Simulink emulator of the system.