六旋翼飞行器建模及位置跟踪控制

摘要

为实现六旋翼的位置跟踪与控制功能，对六旋翼飞行器的数学模型进行了分析，通过线性化得到了其简单数学模型。在简化的数学模型基础之上设计了基于PID(比例-积分-微分控制器)控制算法的姿态控制器和位置控制器，控制器仿真结果表明位置跟踪误差小于2%。飞行实验中飞行器准确追踪给定的姿态角精度大于80%，飞行器性能稳定，实现方法合理。%In order to accomplish control functions,a simple mathematical model was achieved after the model of six-rotor unmanned aerial( UAVs) vehicle was analyzed and linearnized. Attitude controller and position controller was designed based on PID ( Proportional-Integral-Derivative ) control algorithm and the simply mathematical mentioned above. The results of simulation putted on position controller showed that position error is less than two percent. The degree of accuracy on the fact that the reference input was correctly traced by UAVs is greater than eighty percent during the flight test. The performance is stable,and the implementation method is reasonable.