四旋翼飞行器的建模及控制算法仿真

以四旋翼飞行器为研究对象。为实现对飞行器的稳定控制,首先建立了数学模型和动力学模型,又在此基础上设计了PID控制器和模糊PID控制器,通过模拟仿真判断两种控制算法是否能对四旋翼飞行器进行稳定控制。模型的搭建与仿真实验都基于Matlab/Simulink平台,仿真结果验证了模型建立的准确性,以及在所设定的参数下,fuzzy PID控制器对飞行器的控制较好,能够有效控制飞行器的稳定飞行。

ModeIing and ControI AIgorithm SimuIation for Quadrotor

This paper chooses four-rotor aircraft for the study and carry out mathematicaI modeIing and dynamic modeIing of the aircraft.On this basis,this paper designs a PID controI er and a fuzzy PID controI er,which must be determined whether they are efficient for the controI of aircraft by anaIog simuIation.The modeIing and simuIation of the aircraft are based on MatIab /SimuIink.The simuIation resuIts verify the accuracy of the modeI,and in the setting of parameters,the fuzzy PID controI er has good controI of the aircraft,which can effectiveIy controI the stabiIity of the aircraft fIight.