四旋翼无人机控制系统仿真设计

Simulation design of Quad-rotor UAV control system

摘要:

四旋翼无人机是一种性能优越的垂直起降无人飞行器，能够实现悬停、低速飞行、垂直起降等功能，在军事和民用方面具有重要价值。针对四旋翼无人机的控制系统设计问题，首先分析介绍了四旋翼无人机飞行原理，对其建立动力学模型和运动学模型，然后进行了基于PID控制的控制系统设计，控制系统采用四通道、多闭环的控制结构，包括无人机的姿态控制与轨迹控制。在MATLAB中进行无人机控制系统仿真实现。仿真结果表明，本文所设计的控制系统，能够有效地实现四旋翼无人机的姿态控制、轨迹控制，具有良好的控制精度与响应速度。

Abstract:

Quad-rotor UAV is a kind of VTOL unmanned aircraft with excellent performance. It can complete the tasks of hovering, low-speed flight, vertical takeoff and landing, which has great value in military and civilian aspects. In view of the quad-rotor UAV control system design problem, the flight principle of quad-rotor UAV is analyzed firstly. Then dynamics model and kinematics model is established, and the quad -rotor UAV control system is designed based on PID control. The control system adopts four-channel, multi-closed-loop control structure, including attitude control and trajectory control of UAV. The quad-rotor UAV control system simulation implementation and experimental research is carried in MATLAB. The simulation results show that the control system designed in this paper can effectively achieve the attitude control and trajectory control of the quad-rotor UAV, with good control accuracy and response speed.