摘要四旋翼无人直升机具有能够垂直起降、悬停、倒飞、侧飞等多种姿态飞行，操纵方便、机动灵活、噪音小、隐蔽性好等卓越性能,在军事和民用等各个领域得到广泛应用,其飞行控制系统又是典型的欠驱动、静不稳定系统,本身具有高度的耦合性、非线性、动力学模型的不确定性等特性,是较为复杂的控制对象，飞行器控制系统设计比较困难。如何设计一种能精确控制飞行器位置和姿态的控制器成为四旋翼飞行器飞行控制技术中一个急需解决的难题。 65309

PID是线性系统控制器设计最常用的方法之一，它具有控制器结构简单，可靠性高等特点。PID控制适用于可建立精确数学模型的确定性系统，而四旋翼飞行器模型系统是一个系统参数不固定的系统。应用常规PID控制器很难达到理想的控制效果。姿态控制和位置控制存在相互耦合的关系，如果能精确控制飞行器姿态，则采用PID控制律足以实现其位置与速度控制。

基于以上分析,本文对四旋翼飞行器的位姿控制问题进行了研究和探讨。主要内容如下： 

首先,本文对当前国内外四旋翼飞行器的研究现状和相关算法进行了详细的阐述,论证了开展这方面研究的必要性。

其次,分析了四旋翼飞行器的结构和工作原理,根据系统的受力情况,描述了飞行器的基本运动方式和运动特点。

再次，在一定的假设条件下建立了系统的动力学模型，推导出六自由度的动力学方程。

最后,根据四旋翼飞行系统的特点,设计了经典的PID控制器,并利用MATLAB/Simulink软件搭建了系统的仿真模型,仿真结果验证了该控制方法的有效性。

毕业论文关键词  四旋翼飞行器  欠驱动系统  PID控制  MATLAB/Simulink 

毕业设计说明书（论文）外文摘要

Title  Airborne video target tracking and control technology research—— Research Of Aircraft Control Technology

Abstract

Four-rotored helicopters have a vertical take-off and landing, hover, fly, fly, and other flying posture, convenient manipulation, flexible, low noise, good concealment performance, is widely applied in military and civil and other fields, its flight control system is the typical underactuated, static unstable system, itself has a high degree of coupling, nonlinear, dynamic model of the character of uncertainty, is more complex control object, the aircraft it is difficult to control system design. How to design a kind of can accurate control aircraft position and posture of the controller became one of the four rotor aircraft flight control technology is a problem needed to resolve. 

PID is one of the most commonly used method of linear system controller design, it has a controller has simple structure, high reliability etc. PID control is suitable for the accurate mathematical model of a deterministic system can be built, and the four rotor aircraft model system is a system parameter is not fixed. Application of conventional PID controller is difficult to achieve ideal control effect. Attitude control and position control exist mutual coupling relations, if you can precisely control the spacecraft attitude and the PID control law is enough to realize its position and speed control. 

Based on the above analysis, in this paper, the four rotor helicopter position control problem is studied and discussed. The main contents are as follows: 

First of all, in this paper, the current domestic and foreign research situation of the four rotor aircraft and related algorithm are detailed described, demonstrates the necessity to carry out research in this area. 

Secondly, the paper analyzes the structure and working principle of four rotor aircraft, according to the force of the system, describe the basic modes of motion and motion characteristics of vehicles.