四旋翼无人直升机飞行控制系统设计
毕业论文关键词 四旋翼飞行器 PD控制 测速反馈控制 航迹跟踪
Title Quadrotor unmanned helicopter flight control system design
Abstract
Quadrotor unmanned helicopter, referred to as ‘Quadrotor’, generally defined
as a flight system which have four motor drive screw. Thanks to technological
breakthroughs and wide range of applications, quadrotor helicopter becomes a
hotspot of research interests nowadays in the scientific community and business
cicles.
This thesis aim at a quadrotor helicopter, mathermatical modeling conducted on
its dynamics. From the two aspects of kinematics and dynamics research of its
movement characteristics. Its motion equation is obtained under simplifying
assumptions.
In this paper, using the graplical Matlab/Simulink modeling and simulation.Through
the simulation experiments the effectivity of the PD control algorithm and the
speed feedback control algorithm is confirmed. And by adjusting the control
parameters in the simulation experiment，achieve the goal of control. Finally
analyse the tracking characteristic of typical track, the simulation results show
that the control system have good tracking performance.
Keywords Quadrotor helicopter PD control algorithm speed feedback control
algorithm Path tracking
目录
1 绪论 1
1.1 引言 . 1
1.2 研究现状 . 1
1.3 背景意义 . 2
1.4 当前研究的主要问题及难点 . 3
1.5 本文的主要工作和内容安排 . 3
1.6 本章小结 . 4
2 动力学建模 5
2.1 建模假设 . 5
2.2 四旋翼的坐标系简述及主要运动状态量： . 5
2.2.1 常用坐标系简介 5
2.2.2 四旋翼在不同坐标系下的状态量 6
2.2.3 地面坐标系与机体坐标系之间的转换： 6
2.3 动力学方程推导 . 7
2.4 本章小结 . 11
3 基于经典控制算法的飞行器控制器设计 12
3.1 引言 . 12
3.2 交互式仿真集成环境SIMULINK 简介 . 16
3.3 基于经典算法的四旋翼飞行器控制 . 16
3.3.1 比例-微分(PD)控制律. 17
3.3.2 利用PD控制器的姿态控制设计. 18
3.3.3 利用PD控制器的位置控制设计. 19
3.3.4 测速反馈控制律 20
3.3.5 利用测速反馈控制器的姿态控制设计 21
3.3.6 利用测速反馈控制器的位置控制设计 21
3.4 PD 控制参数整定 22
3.4.1 姿态角的参数整定与仿真 22
3.4.2 位置控制的参数整定与仿真 26
3.5 测速反馈控制参数整定 . 28
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