| 四旋翼飞行器悬停算法设计与实现 |
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| 引用本文： | 邓博文,窦强,龚国辉,邓林.四旋翼飞行器悬停算法设计与实现[J].电子科技,2015,28(11):21. |
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| 作者姓名： | 邓博文 窦强 龚国辉 邓林 |
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| 作者单位： | (国防科技大学 计算机学院,湖南 长沙 410073) |
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| 摘 要： | 针对四旋翼飞行器悬停困难的问题,从外力平衡与外力矩平衡两点出发,根据牛顿-欧拉方程对悬停状态下的飞行器建立动力模型,利用PID控制理论进行回路控制,设计了四旋翼飞行器的悬停算法。现场飞行测试结果为飞行器在水平范围±2 m、垂直范围±1 m的空间范围内漂移,实现了飞行器的悬停功能。
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| 关 键 词： | 四旋翼飞行器 PID控制 悬停 |
Design and Realization of Four-rotor Aircraft Hovering Algorithm |
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| DENG Bowen,DOU Qiang,GONG Guohui,DENG Lin.Design and Realization of Four-rotor Aircraft Hovering Algorithm[J].Electronic Science and Technology,2015,28(11):21. |
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| Authors: | DENG Bowen DOU Qiang GONG Guohui DENG Lin |
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| Affiliation: | (School of Computer,National University of Defense Technology,Changsha 410073,China) |
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| Abstract: | A four-rotor aircraft hovering algorithm is proposed based on external force balance and external torque balance.The momentum model of hover state is established using Newton-Euler equations,and with loop control is performed based on the PID control theory.The test results show that aircraft can drift within a horizontal range of ±2 m and a vertical range of ±1 m. |
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| Keywords: | four rotor aircraft PID control hover |
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