期刊导航 收藏 设为首页 网站地图 繁体版

建模与仿真  >> Vol. 5 No. 2 (May 2016)

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: 1,495  浏览: 4,020 

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

参考文献

[1] 花寅. 六旋翼无人直升机控制技术研究[D]: [硕士学位论文]. 南京: 南京理工大学, 2013.
[2] Gupte, S. (2012) Paul Infant Teenu Mohandas and James M. Conrad. A Survey of Quadrotor Unmanned Aerial Vehicles. Southeastcon, 2012 Proceedings of IEEE, 1-6.
[3] Baranek, R. and Solc, F. (2012) Modelling and Control of a Hexa-Copter. 2012 13th International Conference on Carpathian Control Conference (ICCC), IEEE, High Tatras, 28-31 May 2012, 19-23.
[4] 王伟, 邱启明. 六旋翼飞行器建模及位置跟踪控制[J]. 电子器件, 2014, 37(3): 507-513.
[5] Yang, C.S., Yang, Z. and Huang, X.N. (2013) Modeling and Robust Trajectory Tracking Control for a Novel Six- Rotor Un-manned Aerial Vehicle. Hindawi Publishing Corporation Mathematical Problems in Engineering, 2013, Article ID: 673525.
http://dx.doi.org/10.1155/2013/673525
[6] Li, Y.B. and Song, S. (2012) A Survey of Control Algorithms for Quadrotor Helicopter. 2012 IEEE fifth International Conference on Advanced Computational Intelligence, Nanjing, 18-20 October 18-20 2012, 365-369.
[7] Mahony, R., Kumar, V. and Corke, P. (2012) Multirotor Aerial Vehicles Modeling, Estimation, and Control of Quadrotor. IEEE Robotics & Automation Magazine, 19, 20-32.
[8] Stevens, B.L. and Lewis, F.L. (2003) Aircraft Control and Simulation. 2nd Edition, John Wiley & Sons, Inc, Hoboken, 494-500.
[9] Wang, L.F., Zhang, Z.X. and He, C.K. (2014) Adaptive Dynamic Inversion Controller for Quadrotor Aerial Robot. Control Engineering and Technology, 4, 147-152.