【摘要】 针对外部扰动或自身故障等不确定因素影响四旋翼飞行器飞行稳定性问题,采用直接模型参考自适应控制方法进行了仿真研究,并设计了自适应控制率,利用该控制方法对飞行器滚转方向的控制进行了仿真验证.结果表明:系统在外部不确定及非线性信号干扰下,该闭环控制系统能够保证控制的准确性和快速性,且可有效提高控制的稳定性,表现出良好的鲁棒性.更多还原

【Abstract】 To tackle such uncertain factors as external disturbance and self fault that affect the flight stability of quadrotor vehicles,the direct model reference auto-adaptive control method is adopted for simulation.An auto-adaptive control rate is designed.The simulation of the rolling direction control of the quadrotor is carried out by using this control method.The results show that under external uncertainties and nonlinear signal interferences the closed-loop control system can ensure the accuracy and rapidity of control,improve the stability of control and show good robustness.更多还原