多旋翼无人机位置控制系统设计

Position Control System Design for Muti-Rotor Type UAV

摘要:

为解决小型无人机位置控制系统成本高、控制精度低以及控制性能不稳定等缺点,以自主研发的多旋翼无人植保机作为研究对象来设计位置控制器；设计过程中,飞行器的位置建模误差,模型参数变化、GPS定位精度以及外部扰动(如风速)成为有待解决的难题；为解决上述问题,首先设计了卡尔曼滤波器对反馈所得速度和位置信息进行滤波,并采用参考模型滑模控制理论设计位置控制器,提高控制系统的鲁棒性；为了验证位置控制器的性能,进行了户外飞行实验,实验结果表明,无论是在悬停还是目标点追踪情况下,所设计控制系统都具有良好的跟踪性与鲁棒性。

Abstract:

In order to achieve the good performance about position controller of small unmaned aerial vehicle(UAV),the self-research plants protect UAV is selected as the target. During the design processing, we need to solve the error of modeling ,the change of parameter, the low accuracy of GPS and external interference. A Kalman filter is designed to realize data filtering and estimate the unobserved state value. Then the reference model and slide mode controller is combined to minimize the tracking error between the state variables of the vehicle and the state variables of the reference model. The experimental result shows the good performance of designed controller under various experimental conditions.