标题:
六旋翼飞行器动态逆控制器设计Design of Hexacopter Dynamic Inversion Controller
作者:
赵伦, 王立峰, 董晓婉
关键字:
六旋翼飞行器, 动态逆, PID, 姿态控制Hexacopter, Dynamic Inversion, PID, Attitude Controlling
期刊名称:
《Modeling and Simulation》, Vol.5 No.2, 2016-05-24
摘要:
本文针对“X”型布局六旋翼飞行器的姿态控制问题，创建其简化数学模型，并结合PID与动态逆控制方法设计出一个姿态控制器。为了提高系统的鲁棒性，增加一个自适应矢量以补偿逆模型误差。仿真实验表明该控制器能达到快速响应并稳定跟踪指令的目的。
In this paper, a simplified mathematical model is created for the attitude control problem of the “X” type hexacopter, and an attitude controller is designed by combining PID and dynamic inversion control methods. In order to improve the robustness of the system, an adaptive vector is added to compensate the error of the inverse model. Simulation results show that the controller can achieve the aim of fast response and stable tracking.