六旋翼飞行器动态逆控制器设计
Design of Hexacopter Dynamic Inversion Controller
DOI: 10.12677/MOS.2016.52003, PDF, HTML, XML, 下载: 2,124  浏览: 4,820 
作者: 赵伦, 王立峰, 董晓婉：北方工业大学现场总线技术及自动化实验室，北京
关键词: 六旋翼飞行器；动态逆；PID；姿态控制；Hexacopter； Dynamic Inversion； PID； Attitude Controlling
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。
Abstract: 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.
文章引用：赵伦, 王立峰, 董晓婉. 六旋翼飞行器动态逆控制器设计[J]. 建模与仿真, 2016, 5(2): 16-25. http://dx.doi.org/10.12677/MOS.2016.52003

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