CAJ | 학술논문

相对其他无人飞行器平台,四旋翼飞行器有其独特的优势,因而受到广泛的关注.位置跟踪控制对四旋翼飞行器的应用非常重要.在阐述四旋翼飞行器的飞行原理和操控机制的基础上,研究了其动力学模型,并提出了一种简化的数学模型.四旋翼飞行器是欠驱动耦合系统,为了实现系统解耦并得到清晰的控制回路,设计了多回路PID控制方案,其控制目标是位置和偏航角,而姿态角和横滚角由位置误差调节.最后,通过仿真验证了控制方法的有效性.
상대기타무인비행기평태,사선익비행기유기독특적우세,인이수도엄범적관주.위치근종공제대사선익비행기적응용비상중요.재천술사선익비행기적비행원리화조공궤제적기출상,연구료기동역학모형,병제출료일충간화적수학모형.사선익비행기시흠구동우합계통,위료실현계통해우병득도청석적공제회로,설계료다회로PID공제방안,기공제목표시위치화편항각,이자태각화횡곤각유위치오차조절.최후,통과방진험증료공제방법적유효성.
Quadrotor vehicles have attracted more and more interests for their distinct advantages over other unmanned air vehicles(UAVs).Position tracking control is very important for the application of the quadrotor vehicle.In this paper,the flight theory and manipulative mechanism of the quadrotor vehicle were described.The dynamic model was studied,and a simplified mathematical model was obtained.The quadrotor is a coupled under-actuated rotorcraft.In order to decouple the dynamic system and achieve clear control loops,a multi-loop PID control scheme was employed.The control goal is to make the position and yaw angle stabilized at the reference values,while the pitch and roll angles were regulated by the position errors.At last,a simulation was carried out which verified the effectiveness of the control strategy.