【作者】 王俊生；

【导师】 马宏绪；

【作者基本信息】 国防科学技术大学 ， 控制科学与工程， 2007， 硕士

【摘要】 四旋翼碟形飞行器(Quad-Rotor)是一种能够垂直起降的多旋翼式飞行器,特别适合在近地面环境中执行监视、侦察等任务,具有广阔的军事和民用前景。本文以国防科学技术大学研制的Quad-Rotor为研究对象,针对Quad-Rotor的姿态增稳控制问题,主要研究了下述内容:首先,基于模块化设计思想,设计和实现了Quad-Rotor的飞行控制系统,主要包括飞行控制计算机、旋翼转速伺服控制子系统、传感器子系统和无线通信子系统,并设计和搭建了Quad-Rotor的实验平台。其次,根据Quad-Rotor飞行原理,利用牛顿一欧拉方程建立其动力学模型,基于模糊滑模控制(FSMC)理论研究了Quad-Rotor的姿态控制算法,通过仿真验证了该算法的有效性,在实验平台上利用FSMC算法实现了Quad-Rotor的姿态增稳控制。最后,为克服基于FSMC姿态控制算法的不足之处,将直接自适应模糊PI滑模控制(PI-AFSMC)原理应用于Quad-Rotor姿态控制,提出了一种快速离散跟踪微分器(TD)与PI-AFSMC相结合的姿态控制算法(TD-PI-AFSMC)。仿真与实验结果表明,与FSMC算法相比,TD-PI-AFSMC算法具有更好的姿态控制效果。更多还原

【Abstract】 Quad-Rotor is a kind of multi-rotor vehicle which can take off and land vertically. Especially, it is fit for the tasks of surveillance and reconnaissance in the near ground environment and it has widely application in military and civil.Aimed at the problems of attitude argument control of the Quad-Rotor made by National University of Defense Technology, the follow issues are researched:First, based on the thought of the modular design, the Quad-Rotor flight control system is designed and realized, and rotor servo control subsystem, sensor subsystem, wireless communication subsystem are included in it. Meanwhile a Quad-Rotor experiment platform is designed and built.Second, according to the flight principle of Quad-Rotor, dynamic model is built via Newton-Euler formulation, and Quad-Rotor attitude control algorithm is researched based on FSMC theory. The simulation result validates the efficiency of the algorithm, and on the platform, the Quad-Rotor attitude argument control is realized based on the algorithm.Last, to overcome the demerits of the FSMC algorithm, PI-AFSMC principle is applied to Quad-Rotor attitude control algorithm, and a new attitude algorithm is presented that combines TD with PI-AFSMC. The simulation and experiment results show that the new algorithm takes better effect than the FSMC algorithm does.更多还原