四旋翼飞行器串级姿态稳定性优化控制研究

Optimal control of cascade attitude stability for four rotor aircraft

摘要:

针对传统优化控制手段控制四旋翼飞行器能力差这一问题,提出了一种新的稳定性优化控制方法。通过研究动力学原理,分析四旋翼在空气中受到的各种作用力,计算出旋转角速度和旋翼构造平面速度。基于滑流理论、PID控制理论构建出四旋翼飞行器控制模型,分析飞行器的控制原理,阐述了控制系统的工作流程。为检测方法实际工作效果,与传统控制方法进行对比实验,结果可知在相同时间下,受PID方法控制的飞行器运行轨道与预期轨道更加接近,在稳定性和鲁棒性上都强于传统方法。

Abstract:

Aiming at the problem of poor capability of four rotor aircraft controlled by traditional optimization control method, a new stability optimization control method is proposed. By studying the dynamics principle, the forces acting on the four rotor in the air are analyzed, and the rotational speed and the plane velocity of the rotor are calculated. Based on slip theory and PID control theory, the control model of four rotor aircraft is built, and the control principle of the aircraft is analyzed. The working process of the control system is expounded. In order to detect the actual work effect, the comparison experiment with the traditional control method is carried out. The results show that the orbit of the aircraft controlled by the PID method is closer to the expected orbit at the same time, and it is stronger in stability and robustness than in the traditional method.