| 小型四旋翼无人飞行器控制算法研究 |
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| 引用本文： | 高应杰,陈鼎新,李荣明.小型四旋翼无人飞行器控制算法研究[J].计算机与现代化,2011(10):4-7. |
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| 作者姓名： | 高应杰 陈鼎新 李荣明 |
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| 作者单位： | 第二炮兵工程学院; |
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| 摘 要： | 根据牛顿定律和欧拉方程,建立小型四旋翼无人飞行器的动力学模型,并设计四旋翼飞行器的控制系统。利用经典PID设计位置环控制回路和专家PID设计姿态环控制回路。对控制系统进行仿真,从仿真结果来看,该控制系统可使飞行器准确到达指定位置,并保持稳定的悬停姿态。
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| 关 键 词： | 专家PID 四旋翼飞行器 控制算法 |
Research on Control Algorithm of Microquadrotor Aircraft |
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| GAO Ying-jie,CHEN Ding-xin,LI Rong-ming.Research on Control Algorithm of Microquadrotor Aircraft[J].Computer and Modernization,2011(10):4-7. |
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| Authors: | GAO Ying-jie CHEN Ding-xin LI Rong-ming |
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| Affiliation: | GAO Ying-jie,CHEN Ding-xin,LI Rong-ming(The Second Artillery Engineering College,Xi'an 710025,China) |
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| Abstract: | The dynamic mode of a microquadrotor is considered and deducted according to the Newton's law of mechanics and Euler equation,so the dynamic model of the microquadrotor is built.According to the dynamic model of the microquadrotor,a control system is devised.The whole control system is separated into two parts,namely the inner loop control(angular rotations control) by the Expert PID and the out loop control(translational position control)by the classic PID,and designs each of them respectively.The simulati... |
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| Keywords: | expert PID quadrotor control algorithm |
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