【摘要】 在利用时滞比例-积分-微分(PID)算法对姿态进行控制的飞行器控制系统中,针对时滞系统对四旋翼飞行器的影响,设计了四旋翼飞行器的抗干扰控制器,使其在均值为300 ms的时滞系统作用下,将平均超调量控制在20%以内.该设计首先对飞行器进行物理建模,在传统飞行器控制系统回路中引入多层控制,运用线性二次型最优控制(LQR)算法进行姿态角外控制,减小时滞对系统的影响,使飞行器控制系统的姿态调整更具快速性、稳定性和鲁棒性.再根据物理模型的传递函数,引入粒子群算法,对PID算法进行参数的整定.最后利用蒙特卡洛模拟验证算法的可行性.经过相关调试工作,由此系统构成的小型四旋翼飞行器能够在抗干扰通信、编队飞行等系统中稳定飞行.更多还原

【Abstract】 Considering the effect of time-delay on quadrotor’s control system where the attitude of the quadrotor is controlled by proportion-integral-derivative(PID) time-delay algorithm, an anti-jamming controller for quadrotor is designed in this paper. This controller can keep the average overshoot within 20% in the time-delay system with mean 300 ms. In the design, after the physical model of quadrotor has been established, multi-layer control is introduced into the traditional circuit of quadrotor control system, and linear quadratic regulat(LQR) algorithm is used as an outer control of attitude angle to reduce the effect of timedelay, which makes the control system have properties with considerable speedability, stability and robustness on the attitude control. Then particle swarm algorithm is used to set the value of parameters of PID on the basis of the physical model. Finally, the controller is verified with Monte Carlo simulation. The simulation results show that the small four-rotor quadrotor based on this design can perform stably in anti-jamming communication and formation of the flying system.更多还原