四旋翼飞行器追踪地面移动目标控制策略研究

摘要

为使四旋翼飞行器能够追踪地面移动目标,对四旋翼飞行器的空间位置控制策略进行了研究.首先,对四旋翼飞行器的姿态PID控制进行了改进,并整定了合适的参数,使得四旋翼飞行器的打舵响应更加迅速;接着,采用OpenMV获取地面移动目标相对于飞行器的位置,得到了飞行器追踪地面移动目标的反馈信号;最后,根据单级PID与串级PID控制飞行器追踪地面移动目标的对比效果,选择了串级PID控制飞行器追踪地面移动目标.实验表明,该控制策略能够使飞行器追踪具有一定速度的小车,具有一定的实际应用价值.%In order to enable the four rotorcraft to track the ground moving target,the spatial position control strategy of four rotorcraft is studied.Firstly,the attitude PID control of the four rotorcraft is improved and the appropriate parameters are set,which makes the rudder response of the four rotorcraft more rapid.Then,the OpenMV is used to obtain the position of the ground moving target relative to the aircraft,and the feedback signal of the ground moving target is obtained.Finally,according to the comparison effect between the single-stage PID and the cascade PID control vehicle to track the ground moving target,the cascade PID control vehicle is selected to track the ground moving target.Experiments show that the control strategy can enable the aircraft to track a certain speed of the car.It has a certain practical value.