基于RFID技术的四旋翼无人机轨迹跟踪控制系统设计

Design of quadrotor UAV trajectory tracking control system based on RFID technology

摘要:

为促进四旋翼无人机的飞行自主性，增强无人监管情况下飞行器主机所具备的避障行进能力，设计基于RFID技术的四旋翼无人机轨迹跟踪控制系统。在RFID工作频段中，调制处理既定控制信号，利用标签识别协议，在RFID标签识别技术的支持下，连接微型四旋翼轨迹控制器与内环姿态控制器，通过数据通信链路，提取轨迹跟踪控制所需的传输应用电子，完成轨迹跟踪控制系统硬件设计。利用动力系统中的参数辨识策略，确定与轨迹姿态控制相关的物理规律标注，实现基于RFID技术的四旋翼无人机轨迹跟踪控制系统设计。实验结果表明，与机器视觉型控制系统相比，基于RFID技术的控制系统的SSI避障行进指标数值相对较高，全局最大值达到了79%，四旋翼无人机滚转角平均值为85°，能够有效抑制四旋翼无人机滚转角的数值上升趋势，增强无人监管情况下飞行器主机避障行进能力。

Abstract:

In order to promote the flight autonomy of quadrotor UAV and enhance the obstacle avoidance ability of aircraft host under unmanned supervision, a trajectory tracking control system of quadrotor UAV Based on RFID technology is designed. In the working frequency band of RFID, the given control signal is modulated and processed. With the support of RFID tag identification technology, the micro quadrotor trajectory controller and the inner loop attitude controller are connected by using tag identification protocol. Through the data communication link, the transmission application electronics required for trajectory tracking control are extracted, and the hardware design of the trajectory tracking control system is completed. By using the parameter identification strategy in the power system, the physical laws related to the trajectory and attitude control are determined, and the design of the quadrotor UAV trajectory tracking control system based on RFID technology is realized. The experimental results show that, compared with the machine vision control system, the SSI obstacle avoidance index value of the control system based on RFID technology is relatively high, the global maximum value reaches 79%, and the average roll angle of the quadrotor UAV is 85 degrees, which can effectively suppress the rising trend of the roll angle of the quadrotor UAV, and enhance the obstacle avoidance ability of the aircraft host in the case of unmanned supervision.