【摘要】 为了在实验室条件下研究四旋翼飞行器的控制问题,针对其动力学特征,建立了四旋翼飞行器的非线性参数模型,并结合控制需求进行了线性化。采用ARM嵌入式微处理器作为主控器件,无刷直流电机驱动器作为其动力系统,构建了飞行器的实物模型,完成了模型系统总体硬件结构的设计和软件设计。同时针对复杂的外部环境条件下各种不确定性因素对四旋翼飞行器飞行过程的干扰,引入了一种基于H_∞控制理论的回路成型方法来设计系统的鲁棒控制器,通过仿真实验,验证了设计的合理性。更多还原

【Abstract】 In order to investigate the control problem of quad-rotor aircraft under current laboratory condition,based on its dynamic feature, a nonlinear mathematical model of the aircraft is built and then linearized to meet the control requirement.A physical module of quad-rotor aircraft is built using imbedded ARM microprocessor as control complements and brushless DC motor as power system,the hardware circuit and software of the system is correspondingly designed.To reduce the effect of all the uncertain disturbances which caused by the complicated flying circumstance,an H_∞loop shaping control method is introduced.Simulation results verify the rationality of the designation.更多还原