小型四旋翼无人飞行器控制算法研究

摘要

The dynamic mode of a microquadrotor is considered and deducted according to the Newton's law of mechanics and Eu-ler equation, so the dynamic model of the microquadrotor is built. According to the dynamic model of the microquadrotor, a control system is devised. The whole control system is separated into two parts, namely the inner loop control (angular rotations control) by the Expert PID and the out loop control(translational position control)by the classic PID, and designs each of them respectively. The simulation results show that with this control method, the quadrotor can reach the target position accurately and keep its stabilization when hovering.%根据牛顿定律和欧拉方程,建立小型四旋翼无人飞行器的动力学模型,并设计四旋翼飞行器的控制系统.利用经典PID设计位置环控制回路和专家PID设计姿态环控制回路.对控制系统进行仿真,从仿真结果来看,该控制系统可使飞行器准确到达指定位置,并保持稳定的悬停姿态.