四旋翼飞行器串级姿态稳定性优化控制研究

摘要

To deal with the strong coupling and sensitive to external disturbances of quadrotor,a robust cascade sliding mode control method is developed.Firstly,according to the Newton Euler equations,the dynamics model of the quadrotor was established.Then,based on the Lyapunov stability theorem,the cascade sliding mode control method was adopted to design the stable algorithm for the inner and outer rings of quadrotor,which can not only overcome the problem of strong coupling and highly nonlinear,but also suppress the external disturbances effectively and enhance the stability of the entire system.Simulation results show that the control method can meet the design requirements of fast attitude maneuver and high stability,which has better performance of stability and robustness than cascade PID control method.%针对四旋翼飞行器状态耦合严重和外界干扰敏感等问题,提出一种基于滑模的串级姿态控制的方法.首先,由牛顿-欧拉方程建立了四旋翼飞行器的动力学模型.然后,根据李雅普洛夫稳定性理论,设计了串级滑模控制技术,为飞行器内环姿态环设计了稳定性算法,能够克服四旋翼飞行器强耦合、高度非线性等问题.并对外界气流干扰进行有效抑制,提升了整个系统的稳定性.仿真结果表明,设计的控制方法能够满足四旋翼飞行器姿态调节快速和高度稳定的控制要求,稳定性和鲁棒性明显优于串级PID控制.