| 四旋翼飞行器建模与PID控制器设计 |
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| 引用本文： | 江杰,岂伟楠.四旋翼飞行器建模与PID控制器设计[J].国外电子元器件,2013(23):147-150. |
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| 作者姓名： | 江杰 岂伟楠 |
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| 作者单位： | 内蒙古科技大学信息工程学院,内蒙古包头014010 |
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| 摘 要： | 为了实现对四旋翼飞行器的稳定飞行控制,对四旋翼飞行器建立了动力学数学模型,并采用准LPV法将非线性模型线性化,在建立的动力学模型基础上,对飞行器垂直速率、俯仰速率、横滚速率、偏航速率四个独立通道上分别设计了PID控制器.并通过Matlab/Simulink软件进行控制系统仿真,并对仿真结果进行分析,仿真结果验证了PID算法的有效性.
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| 关 键 词： | 四旋翼飞行器 LPV 非线性建模 PID控制 |
Modeling and PID control for a quadrotor |
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| JIANG Jie,QI Wei-nan.Modeling and PID control for a quadrotor[J].International Electronic Elements,2013(23):147-150. |
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| Authors: | JIANG Jie QI Wei-nan |
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| Affiliation: | (School of information Engineering,Inner Mongolia University of Science and Technology,Baotou 014010, China) |
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| Abstract: | In order to achieve the stability of quadrotor aircraft flight control,Characteristics of the quadrotor aircraft kinematics are analyzed, the linear mathematical model and LPV model were established, taking it as the control system of simulation model.the paper finally research control algorithm for the Quadrotor aircraft system simulation model in Matlab. Considering the nonlinear model of the system, PID control was used for pitch , roll, yaw and vertical speed, the simulation results of the system was analyzed,the control algorithm was verified of deffectiveness. |
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| Keywords: | quadrotor LPV nonlinear model PID control |
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