电子器件
電子器件
전자기건
JOURNAL OF ELECTRON DEVICES
2014年
3期
507-513
,共7页
控制工程%位置跟踪%PID控制%数学建模%姿态控制
控製工程%位置跟蹤%PID控製%數學建模%姿態控製
공제공정%위치근종%PID공제%수학건모%자태공제
six-rotors vehicle%mathematical modeling%PID ( Proportional-Integral-Derivative )%attitude control%position tracking
为实现六旋翼的位置跟踪与控制功能，对六旋翼飞行器的数学模型进行了分析，通过线性化得到了其简单数学模型。在简化的数学模型基础之上设计了基于PID(比例-积分-微分控制器)控制算法的姿态控制器和位置控制器，控制器仿真结果表明位置跟踪误差小于2%。飞行实验中飞行器准确追踪给定的姿态角精度大于80%，飞行器性能稳定，实现方法合理。
為實現六鏇翼的位置跟蹤與控製功能，對六鏇翼飛行器的數學模型進行瞭分析，通過線性化得到瞭其簡單數學模型。在簡化的數學模型基礎之上設計瞭基于PID(比例-積分-微分控製器)控製算法的姿態控製器和位置控製器，控製器倣真結果錶明位置跟蹤誤差小于2%。飛行實驗中飛行器準確追蹤給定的姿態角精度大于80%，飛行器性能穩定，實現方法閤理。
위실현륙선익적위치근종여공제공능，대륙선익비행기적수학모형진행료분석，통과선성화득도료기간단수학모형。재간화적수학모형기출지상설계료기우PID(비례-적분-미분공제기)공제산법적자태공제기화위치공제기，공제기방진결과표명위치근종오차소우2%。비행실험중비행기준학추종급정적자태각정도대우80%，비행기성능은정，실현방법합리。
In order to accomplish control functions,a simple mathematical model was achieved after the model of six-rotor unmanned aerial( UAVs) vehicle was analyzed and linearnized. Attitude controller and position controller was designed based on PID ( Proportional-Integral-Derivative ) control algorithm and the simply mathematical mentioned above. The results of simulation putted on position controller showed that position error is less than two percent. The degree of accuracy on the fact that the reference input was correctly traced by UAVs is greater than eighty percent during the flight test. The performance is stable,and the implementation method is reasonable.
