基于PX4的双系统复合式垂直起降无人机过渡态控制算法改进研究
Research on Improvement of Transient Control Algorithm for Dual System Hybrid VTOL UAV Based on PX4
DOI: 10.12677/DSC.2018.73027, PDF,  被引量   
作者: 姜亚中, 王立峰：北方工业大学现场总线技术及自动化实验室，北京
关键词: 垂直起降无人机；飞行控制；过渡状态；VTOL UAV； Flight Control； Transition State
摘要: 双系统复合式垂直起降无人机结合了多旋翼与固定翼，由多旋翼转换至固定翼模式的过渡态过程，将涉及到多旋翼和固定翼同时参与飞行控制的问题。文中提出一种权重的控制算法分配双系统在过渡态相互配合的一体化控制方案，同时使用激活函数方法改进多旋翼姿态与位置控制的PID算法，以避免执行器输出饱和，提高过渡态稳定性。
Abstract: The composite dual-system VTOL UAV combines multi-rotor and fixed-wing. The transition process from multi-rotor to fixed-wing mode will involve the simultaneous control of multi-rotor and fixed-wing in flight control. In this paper, a weight control algorithm is used to allocate the two systems in the transition state to coordinate the integrated control. At the same time, in order to avoid actuator saturation and improve the stability of transition state, the PID algorithm of mul-ti-rotor attitude and position control is improved by using activation function.
文章引用：姜亚中, 王立峰. 基于PX4的双系统复合式垂直起降无人机过渡态控制算法改进研究[J]. 动力系统与控制, 2018, 7(3): 245-252. https://doi.org/10.12677/DSC.2018.73027

参考文献

[1] Tyan, M., Nguyen, N.V., Lee, J.-W., et al. (2016) A Hybrid VTOL-Fixed Wing Electric UAV Sizing Methodology Development. KSAS 2016 Fall Conference, Jeju.
[2] Yu, S. and Kwon, Y. (2017) Development of VTOL Drone for Stable Transit Flight. Journal of Computer & Communications, 5, 36-43.
[Google Scholar] [CrossRef] 
[3] Guclu, A., Kurtulus, D.F. and Arikan, K.B. (2015) Attitude and Altitude Stabilization of Fixed Wing VTOL Unmanned Air Vehicle. AIAA Modeling and Simulation Tech-nologies Conference, Washington DC, 13-17 June 2016.
[4] 陈子杰, 刘永辉, 赵厚宝, 等. 基于PX4构建高可靠多旋翼控制器的实现方法[J]. 软件产业与工程, 2014(6): 38-42.
[5] Çakici, F. and Leblebicioğlu, M.K. (2016) Control System Design of a Vertical Take-off and Landing Fixed-Wing UAV. IFAC-PapersOnLine, 49, 267-272.
[Google Scholar] [CrossRef] 
[6] 刘一鸣, 许辉, 耿长兴, 等. ROS/Gazebo环境下的机械臂运动规划研究[J]. 煤矿机械, 2018(3): 42-44..

为你推荐