【作者】 魏丽文；

【导师】 陈平；

【作者基本信息】 哈尔滨工业大学 ， 电力电子与电力传动， 2010， 硕士

【摘要】 本课题主要通过利用已有的相关技术,初步研究和设计了四旋翼飞行器控制系统。四旋翼飞行器属于旋翼式小型无人飞行器的一种,与传统的无人飞行器相比,四旋翼飞行器机动灵活性强,承载力高,适合于理想稳态和准稳态飞行条件下的全方位垂直起降,在军事和民用领域均有广阔的发展前景。本文工作目标是实现飞行器的平稳垂直起降和小角度内姿态调整。文中首先介绍了目前国内外四旋翼飞行器的发展状况和本课题的研究内容;其次对四旋翼飞行器的飞行原理从理论上进行了初步探讨,设计了飞行器系统的整体结构,采用结构模块化的思路,以AduC7026为主控制芯片,完成了系统主控模块、驱动模块、检测模块和执行模块的硬件电路设计;之后结合飞行器系统的硬件结构,采用C编程语言完成了系统软件编程部分的工作。作为一个MIMO欠驱动系统,四旋翼飞行器强耦合性,非线性和时变的动力学特征以及系统本身的不确定性等特点使得系统的控制变得十分复杂。针对这些问题,本文提出了一种基于H_∞控制理论的回路成型方法来进行系统控制器的设计,该方法将经典的回路成形法和带宽概念与现代的H_∞控制理论的鲁棒稳定性融合在一起,充分考虑系统不确定性的影响,保证控制系统的鲁棒稳定性,并优化性能指标。设计中首先对飞行器系统进行了动力学建模,之后采用H_∞回路成型法设计了系统鲁棒控制器,并通过仿真验证了控制器的控制效果。最后,进行了系统各个模块的调试,并在实验室条件下成功的实现了飞行器模型的离地飞行和垂直起降。通过飞行实验,验证了四旋翼飞行器控制系统设计方案的合理性。更多还原

【Abstract】 In this paper, a new type of helicopter, Four-Rotor aircraft, has been designed and introduced. Four-rotor aircraft is a kind of Micro Unmanned Aerial Vehicle, compared with traditional unmanned aerial vehicle, the strong maneuverability and high bearing capability make it easy to achieve vertical take-off and landing under ideal stationary or quasi-stationary fight conditions, and provide the aircraft with a broad developing prospect in both military and civilian areas.The objective of the research is achieving the stable vertical take-off and landing of the aircraft and flying attitude adjustment in a small angle range. The present developing status of four-rotor aircraft at home and abroad and the main content of the research have firstly been introduced in the paper, then based on the investigation of four-rotor aircraft’s flight principle, an integral structure of the aircraft system has been designed by using a structure-modularizing method as designing concept and AduC7026 as the microcontroller, and the hardware circuit of the main control module, driving module, testing module and executive module have been accomplished with it. Combined with the hardware structure, the software programming of the system has also been fulfilled using C programming language.As an under-actuated multi-input and multi-output system, four-rotor aircraft has some unexpected dynamic features such as high coupling degree, non linearity and time-varying, this makes the controlling of the aircraft very complicated. To solve this problem, a loop shaping method based on H_∞control theory has been presented to realize the designing of system controller, the method combines classic loop shaping and the concept of bandwidth with the robust stability of modern H_∞control theory, and gives full consideration of the effect of system’s uncertainty to ensure robust stability of the system and optimizes the performance index. The dynamic module of the aircraft has been built for controller simulation, after simulating using Matlab, the control performance of the designed controller has been vertified.In the end, the performance of system modules has been tested, and the aircraft designed has completed its flying experiment under current laboratory codition successfully, which vertified the rationality of the designation.更多还原