CAJ | 학술논문

在刚性运动学建模的基础上，根据HD控制理论针对俯仰、偏航、滚转通道分别设计控制器，进行姿态控制。在设计好控制器的基础上，再分别设计干扰补偿器，利用前馈补偿，减弱干扰对系统性能的影响，改善其控制性能，并设计仿真平台，进行仿真验证。
재강성운동학건모적기출상，근거HD공제이론침대부앙、편항、곤전통도분별설계공제기，진행자태공제。재설계호공제기적기출상，재분별설계간우보상기，이용전궤보상，감약간우대계통성능적영향，개선기공제성능，병설계방진평태，진행방진험증。
Based on rigid kinematics modeling and PID Control Theory, the controllers for pitch, yaw and roll channel are designed respectively to control their attitudes. On the basis of the well-designed controllers, interference compensators are designed respectively so that feed-forward compensation can be used to decrease the performance, and finally interference effect on the performance of the system, improving the control a simulation platform is designed to test and verify the results.