基于MPC的四旋翼无人机航迹跟踪控制系统

目前研究的四旋翼无人机航迹跟踪控制系统跟踪过程不稳定,导致跟踪结果不准确;为此基于MPC设计了一种新的四旋翼无人机航迹跟踪控制系统.通过空中飞行控制器、地面控制器和人工干预器实现了无人机航线的跟踪控制;空中飞行控制器包括GPS导航定位模块、姿态评估模块(MTI)、飞行控制系统计算机,显示模块等;地面控制器探测周围飞行环境,规避障碍物、规划安全航线,传输至空中自主飞行控制系统,包括无线通讯的数据连接电路和地面终端控制模块;人工干预模块能对飞行过程中发生的意外情况进行人工干预以避免突发情况造成危险;以VS2010为开发环境,利用C++软件设计软件流程;利用MPC多变量控制策略,以最优动态轨迹为控制目标,获取无人机的实时飞行状况,设定航线规划流程,实行航线动态规划;实验结果表明,所设计的无人机航迹跟踪控制系统稳定性较好,跟踪控制结果与预期的跟踪控制曲线重合度更高,平均误差控制在1 cm以内.

Track Tracking Control System of Quad-rotor UAV Based on MPC

The track tracking control system of the four-rotor UAV currently studied is unstable, which leads to inaccurate tracking results. In order to solve the above-mentioned problems, a new four-rotor UAV track tracking control system was designed based on MPC. Through the air flight controller, the ground controller and the manual intervention device, the tracking control of the UAV route is realized. The main function of the air flight controller is to ensure that the UAV will fly according to the established route. The hardware involved mainly includes the GPS navigation and positioning module, the attitude evaluation module (MTI), the flight control system computer, and the display module. The main function of the ground controller is to detect the surrounding flight environment, avoid these obstacles to plan a safe route, and transmit it to the air autonomous flight control system. The hardware involved includes the wireless communication data connection circuit and the ground terminal control module. The manual intervention module can manually intervene in unexpected situations during the flight to avoid danger caused by emergencies. The main hardware includes the Futaba controller and the supporting RS5803 receiver. Take VS2010 as the development environment and use C++ software to design the software process. The experimental results show that the MPC-based four-rotor UAV track tracking control system can effectively ensure the stability of the tracking control process and improve the accuracy of the control results.