四旋翼飞行器姿态的非线性控制仿真研究

摘要

针对目前国内四旋翼飞行器在电力巡检中的广泛应用,对四旋翼飞行器的姿态控制提出更高的要求.由于四旋翼飞行器存在着非线性 、多变量耦合的内部不匹配干扰和风力等的外部干扰,设计了非线性干扰观测器来逼近这些干扰形成反馈补偿,从而抵消各种干扰,主回路采用PID控制器.计算机搭建Matlab仿真模型验证控制器的控制效果,编写三维轨迹和姿态角的GUI监测界面,Simulink仿真结果表明:该非线性干扰观测器能有效抵消干扰.%In view that the quad-rotor of power line inspection has been well established in civil ,which put forward high-er requirements for the attitude control of quad-rotor .Due to the existence of nonlinear ,multi-variable coupled of internal mismatch and wind of external disturbances ,the nonlinear disturbance observer (NDOB) is designed to approach these dis-turbances to form a feedback compensation ,which can counteract the interference ,and meanwhile ,main control loop adopts PID .Building Matlab simulation model to verify the control effect of the nonlinear controller ,and programing GUI monitoring interface on three-dimensional trace and attitude angle of quad-rotor on computer .Simulink simulation results show that :The nonlinear disturbance observer can effectively offset the interference .