【摘要】 基于四轴飞行器的应用价值,国内开始了针对性研究,其中四轴动力学模型的建立和飞行控制,是研究难点。文中建立了四轴动力学模型,并结合基于加速度积分计算的空间追踪模型与改进型PID控制算法,设计了四轴飞行位置控制系统。同时,利用Matlab/Simulink模块对控制系统进行了仿真,验证了其控制性能。更多还原

【Abstract】 Due to its great application value,quadcopters have drawn increasing attention of domestic institutions. The establishment of quadcopter dynamic model and flight control are two major difficulties. This paper establishes a quadcopter dynamic model,and designs a quadcopter position control system combined with space tracking model based on the acceleration integral and improved PID control algorithm. The Matlab / Simulink module is used to simulate the control system and test the control performance.更多还原