多旋翼无人飞行器悬停姿态精确控制仿真研究

摘要

This paper focuses on a method for precise control of hover attitude of multi-rotors unmanned aerial vehicle.Firsdy,the dynamic equation of multi-rotors unmanned aerial vehicle around the centroid is built,and the rolling moment,pitching moment and yawing resultant moment of unmanned aerial vehicle under hover attitude are calculated,and then the dynamic equations and transfer functions of yawing rotation of multi-rotors unmanned aerial vehicle are obtained.Moreover,the angle and angular velocity of aircraft in multiple axial are collected,and the precision stability control of aerocraft under hover attitude is realized.Simulation result shows that the proposed method can effectively control the multi-rotors unmanned aerial vehicle to reach the target position.It realizes the precise control of hover attitude.%对多旋翼无人飞行器悬停姿态的精确控制,能够有效提高飞行器悬停状态的稳定性.对多旋翼飞行器悬停姿态的控制,需要获得飞行器偏航运动的动力学方程传递函数,采集飞行器在多个轴向角速度,完成飞行器姿态控制.传统方法将飞行器悬停姿态非线性模型线性化,对飞行器俯仰角和偏航角进行控制,但忽略了采集飞行器在多个轴向角速度,导致控制精度偏低.提出基于自适应模糊PID的多旋翼无人飞行器悬停姿态精确控制方法.首先建立多旋翼无人飞行器绕质心转动的动力学方程,计算出无人飞行器悬停状态下滚转和俯仰力矩、偏航合力矩,获得多旋翼无人飞行器偏航运动的动力学方程传递函数,采集飞行器在多个轴向的角度和角速度,实现飞行器悬停状态下姿态精确稳定控制.实验结果表明,所提方法能够有效地控制多旋翼无人飞行器抵达目标位置,实现了对悬停姿态的精确控制.