四轴飞行器的动力学建模和位置控制研究

›› 2015, Vol. 28 ›› Issue (1): 69-.

四轴飞行器的动力学建模和位置控制研究

徐大远,王英健,陈冠军,张巍

(长沙理工大学电气与信息工程学院,湖南长沙 410214)

出版日期:2015-01-15 发布日期:2015-01-22
作者简介:徐大远(1990—),男,硕士研究生。研究方向:智能控制。E-mail:474343905@qq.com

Research on Dynamic Modeling and Position Control of the Quadcopter

XU Dayuan,WANG Yingjian,CHEN Guanjun,ZHANG Wei

(School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410214,China)

Online:2015-01-15 Published:2015-01-22

摘要/Abstract

摘要：

基于四轴飞行器的应用价值,国内开始了针对性研究,其中四轴动力学模型的建立和飞行控制,是研究难点。文中建立了四轴动力学模型,并结合基于加速度积分计算的空间追踪模型与改进型PID控制算法,设计了四轴飞行位置控制系统。同时,利用Matlab/Simulink模块对控制系统进行了仿真,验证了其控制性能。

关键词: 四轴飞行器, 动力学模型, 改进型PID算法, Matlab/Simulink仿真

Abstract:

Due to its great application value,quadcopters have drawn increasing attention of domestic institutions.The establishment of quadcopter dynamic model and flight control are two major difficulties.This paper establishes a quadcopter dynamic model,and designs a quadcopter position control system combined with space tracking model based on the acceleration integral and improved PID control algorithm.The Matlab/Simulink module is used to simulate the control system and test the control performance.

Key words: quadcopter;dynamic model;improved PID algorithm;Matlab/Simulink simulation

中图分类号:

V211.8

徐大远,王英健,陈冠军,张巍. 四轴飞行器的动力学建模和位置控制研究[J]. , 2015, 28(1): 69-.

XU Dayuan,WANG Yingjian,CHEN Guanjun,ZHANG Wei. Research on Dynamic Modeling and Position Control of the Quadcopter[J]. , 2015, 28(1): 69-.