【摘要】 本文针对反演法在姿态环建模中将角速率与角加速度的关系简化为纯积分关系不符合实际情况的问题,对控制四旋翼无人机的反演法进行了控制律改进与优化,设计了一种反演-动态逆方法的四旋翼无人机控制器。首先针对四旋翼无人机的欠驱动和非线性特点,采用牛顿-欧拉法在混合坐标系下根据动力学方程建立四旋翼无人机模型;然后鉴于该控制系统中各变量间存在强耦合的问题,根据线速度与线加速度为纯积分关系设计了基于反演法的位置控制器、角速率与角加速度并不是纯积分关系设计动态逆姿态控制器。将这两种控制器有机地结合并实现四旋翼无人机的轨迹跟踪效果,最后借助仿真工具进行了试验验证。数值仿真结果表明:设计的飞行控制器能够快速有效地使被控对象跟踪预定轨迹。更多还原

【Abstract】 The backstepping method for modeling the relationship between attitude loop angular velocity and angular acceleration of the pure integral relations do not conform to the actual situation,the backstepping method of the quad-rotor UAV control law were improved,we designed a backsteppingdynamic inversion controller for this UAV. The quad-rotor UAV flight dynamics model of nonlinear model complexity and difficulty in modeling problems,the dynamic model of Newton Euler method established quad-rotor UAV in mixed coordinate system;and then under strong coupling between variables of the flight control system,according to the linear velocity and acceleration for the pure integral relationship position controller is proposed based on backstepping method,and the relationship between the angular velocity and angular acceleration is not the pure integral,and a dynamic inverse attitude controller is designed. The two controller are combined to achieve the trajectory tracking effect of the quad-rotor UAV. Finally,the results is verified by a simulation tool. The numerical simulation results show that the designed control method can make the controlled object track the desired trajectory effectively.更多还原