| DI/QFT控制器在四旋翼无人直升机飞行控制中的应用 |
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| 引用本文： | 单海燕.DI/QFT控制器在四旋翼无人直升机飞行控制中的应用[J].电光与控制,2008,15(12). |
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| 作者姓名： | 单海燕 |
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| 作者单位： | 南京航空航天大学自动化学院,南京,210016 |
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| 摘 要： | 首先建立了四旋翼无人机的非线性数学模型.然后针对该无人机数学模型的不确定性和非线性,采用动态逆(DI)和定量反馈理论(QFT)相结合的方法设计了该无人机姿态回路的鲁棒控制器.应用动态逆方法处理对象的非线性,将系统等效为一个解耦但存在不确定性的线性对象.鉴于动态逆控制在气动参数摄动的情况下不能满足控制要求的事实,设计了QFT控制器,QFT控制器能克服对象的参数不确定性,保障系统的鲁棒性.仿真结果表明,在气动数据变化±20%的范围内,DI/QFT控制器实现了对姿态角的精确控制.
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| 关 键 词： | 四旋翼无人机 飞行控制 动态逆 定量反馈理论 鲁棒控制 |
Combined DI /QFT flight control for a quad-rotor unmanned helicopter |
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| SHAN Hai-yan.Combined DI /QFT flight control for a quad-rotor unmanned helicopter[J].Electronics Optics & Control,2008,15(12). |
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| Authors: | SHAN Hai-yan |
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| Affiliation: | College of Automation;Nanjing University of Aeronautics and Astronautics;Nanjing 210016;China |
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| Abstract: | A nonlinear dynamic model for a quad-rotor unmanned helicopter is established.Considering the uncertainness and nonlinearity of the model,a method combining Dynamic Inversion(DI) with Quantitative Feedback Theory(QFT) is used to design a robust controller for attitude loop of the unmanned helicopter.The dynamic inversion method is used to treat the nonlinearity,which makes the system equivalent to a decoupled and uncertain linear object.Since dynamic inversion controller can not satisfy the control requirem... |
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| Keywords: | quad-rotor Unmanned Helicopter flight control dynamic inversion quantitative feedback theory robust control |
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