四旋翼无人飞行器实验平台设计及姿态控制研究

Research on Design of Quadrotor Aircraft Experimental Platform and Attitude Control

摘要:

为了实现四旋翼无人飞行器姿态的稳定控制并验证控制算法的性能,设计了一种可用于四旋翼无人飞行器姿态控制算法研究及控制性能测试的物理实验平台；首先,利用牛顿-欧拉法建立了四旋翼无人飞行器的六自由度动力学模型；其次,对姿态传感器数据进行融合,利用互补滤波算法实现对四旋翼飞行器姿态进行快速准确解算；然后,在MATLAB环境下搭建了四旋翼飞行器仿真模型,并设计改进的PID控制器对飞行姿态进行了仿真；最后,搭建了一个四旋翼无人飞行器姿态控制的物理实验平台,进行了飞行器姿态控制算法的性能测试；实验结果表明了四旋翼无人飞行器实验平台设计的合理性和正确性,是一种快速有效的飞行器姿态控制算法性能测试实验平台。

关键词:四旋翼飞行器;姿态解算;改进PID控制;姿态控制

Abstract:

For the attitude control and performance test of a quadrotor a kind of physical experiment platform is designed which can be used to study and test the attitude control algorithm of a quadrotor UAV. Firstly, six degree of freedom dynamics model of a quadrotor UAV is established by using the Newton-Euler method. Secondly, the attitude data measured by attitude sensors is analyzed using the complementary filter algorithm to obtain the accurate attitude of the quadrotor UAV fast. Thirdly, in the MATLAB environment, the simulation model of a quadrotor UAV is built, and an improved PID controller is applied to the vehicle’s simulation mode for attitude control. Finally, a physical experiment platform of the attitude control of the quadrotor UAV is built, and the performance test of the attitude control algorithm is carried out. The experimental results show that the design of the quadrotor UAV experimental platform is reasonable and correct, and it is a fast and effective platform for the performance testing of the quadrotor UAV attitude control algorithm.

Key words:quadrotor; attitude algorithm; improved PID control; attitude control