【作者】 王志鹏；

【导师】 伍清河；

【作者基本信息】 北京理工大学 ， 控制科学与工程， 2015， 硕士

【摘要】 近年来，对无人机，尤其是四旋翼无人机的研究开始受到人们的重视。由于其低廉的造价以及灵活的操作性，使得四旋翼无人机在军事及民事领域的应用更加广泛。本文根据对四旋翼无人机飞行原理及其动力特点的分析，利用牛顿——欧拉方程建立了四旋翼无人机的动力学方程组，提出了四旋翼无人机的数学模型。与传统的基于姿态和位置回路的分离控制不同，本文依据四旋翼动力学系统特性，把系统分为全驱动子系统和欠驱动子系统。依据两个子系统的不同特点，分别提出了两种不同的控制器设计方案。首先，对全驱动子系统的动力学特点进行分析，为竖直方向以及偏航角的控制，设计了一种终端滑模控制器。通过理论证明、搭建仿真模型以及进行仿真实验进一步说明了控制方案的有效性。其次，对欠驱动子系统的动力学特点进行分析，为水平方向以及滚转角、俯仰角的控制，设计了一种基于干扰观测的滑模控制器。通过数学证明以及相关仿真实验说明了控制方案的有效性及控制器对干扰的抑制作用。然后，把两种控制方案统一到整体四旋翼无人机系统控制中，通过调节相关参数，把两种方案联合成统一的控制器，对整个系统进行控制。最终的控制方案不仅有效实现了对系统预设轨迹的跟踪，而且有效的抑制了干扰，保证了四旋翼无人机的稳定飞行。最后，针对简化后的四旋翼控制系统模型，考虑在固定通信拓扑中的多四旋翼一致性编队的控制问题。根据简化后四旋翼系统的特点，分成四个子系统进行分别控制，设计了一种一致性的编队控制协议，通过理论证明以及仿真实验说明了设计的控制方案是有效的，可以使多四旋翼系统达到预定的编队目标。更多还原

【Abstract】 In recent years, the research to unmanned aerial vehicle (UAV), especially to theQuadrotor UAV has gained more popularity all over the world. Due to the low cost, flexiblemovement and many other advantages, Quadrotor UAV has been used more and morewidely in the field of military and civilian.According to the analysis of the Quadrotor UAV flight’s principle and dynamiccharacteristics, this thesis establishes Quadrotor UAV’s kinetic equation with Newton-Euler method, and proposes Quadrotor UAV’s mathematical model. Different from thetraditional method which separated the model into two parts-attitude loop and positionloop, this thesis separates the system into a fully-actuated subsystem and an under-actuatedsubsystem according to Quadrotor UAV system’s dynamic characteristics, and proposestwo different kinds of controller respectively.First of all, due to the analysis of the fully-actuated subsystem’s dynamiccharacteristics, a terminal sliding mode controller is designed to control the verticaldirection and the drift angle. The effectiveness of the algorithm is proved by the relatedtheory and simulation results.Secondly, a sliding mode controller based on disturbance observer is proposed tocontrol the horizontal direction, roll angle and pitching angle by analyzing the dynamiccharacteristics of the under-actuated subsystem. Through the mathematical proof andrelated simulation results, this thesis proves the correctness of the control algorithm and theinterference immunity of the controller.Then, for the whole Quadrotor UAV control system, a unified controller is proposedby combining these two control algorithms and adjusting the relative parameters. The finalcontroller can not only realize the system’s scheduled goals, but also effectively restrain thesystem’s disturbance, which enables the stability of the UAV’s flight.Finally, a consensus formation control problem with the fixed communicationtopology is posed aiming at the simplified quadrotor system model. By studying thecharacteristics of the simplified quadrotor system, the thesis separates the quadrotor modelinto four subsystems and designes new consensus formation control protocols respectively.Theoretical proof and simulation results illustrate that the control algorithm designed iseffective, and multi-quadrotor systems can reach the expected formation target under the control protocols.更多还原