基于PID算法的四旋翼飞行控制器设计

摘要

飞行控制系统很大程度上决定了飞行器的性能.本文主要对四旋翼飞行器的建模和飞行控制算法进行研究.首先根据四旋翼的动力学特性建立其数学模型;然后设计PID姿态控制器和位置控制器分别实现对四旋翼姿态和位置的控制;最后利用MATLAB/simulink工具对算法进行仿真.仿真结果表明,本文设计的PID控制器可以有效地对四旋翼飞行器进行控制.%The flight control system largely determines the performance of the aircraft. This paper mainly studies the modeling and flight control algorithms of the Quadrotor aircraft. First the mathematical model is established according to the dynamic characteristics of Quadrotor. Then we design PID attitude controller and position controller , which realizes the control of quadrotor attitude and position.Finally , the algorithm is simulated using Matlab / Simulink tools. The simulation results show that the PID controller designed in this paper can effectively control the Quadrotor aircraft