【作者】 张隆锦； 王新泽； 王贵东； 刘金琨；

【Author】 Longjin Zhang;Xinze Wang;Guidong Wang;Jinkun Liu;School of Automation Science and Electrical Engineering,Beihang University;China Academy of Aerospace Aerodynamics;

【机构】 北京航空航天大学自动化科学与电气工程学院； 中国航天空气动力技术研究院；

【摘要】 四旋翼无人机作为旋翼类无人机的典型代表,具有紧凑的机械结构、较高的负载特性、良好的机动性、可以垂直起降、保持悬停等优点,广泛应用于侦察监控、农业生产、快递运输、灾后搜索和救援、航空摄影等复杂任务。然而四旋翼飞行器自主飞行任务中可能由于参数标定不准,参数变化等问题,使得现代基于模型设计的控制律不稳定,无法正常完成任务。为了解决这个问题,动力学模型参数在线辨识的技术被引入到无人机控制方法设计中。参数辨识已经应用于许多领域,比如机械臂、多智能体等。本文针对四旋翼飞行器动力学模型进行在线参数辨识方法设计,根据李雅普诺夫直接法,首先设计基于参数估计值的状态观测器,进一步设计参数自适应律,可实现在时间趋近无穷时,各参数估计值收敛至真值。更多还原

【Abstract】 As a typical representative of the rotorwing UAV,the four-rotor UAV has the advantages of compact mechanical structure,high load characteristics,good mobility,vertical takeoff and landing,maintaining hover,etc.,and is widely used in reconnaissance and monitoring,agricultural production,express transportation,post-disaster search and rescue,aerial photography and other complex tasks.However,due to the inaccurate parameter calibration and parameter change,the modern model-based control law is unstable and can not complete the task normally.In order to solve this problem,on-line identification of dynamic model parameters is introduced into UAV control method design.Parameter identification has been applied in many fields,such as robotic arms,multi-agents and so on.In this paper,an online parameter identification method is designed for the dynamics model of a quadrotor aircraft.According to Lyapunov direct method,a state observer based on parameter estimates is designed first,and the parameter adaptive law is further designed,which can realize the convergence of each parameter estimate to the true value in time.更多还原