变桨距四旋翼飞行器可以通过改变4个旋翼的桨距大小来控制对应旋翼的拉力，从而调节四旋翼飞行器的姿态和位置。四旋翼飞行器的桨距调节控制策略相比传统的单一转速调节对于提高自身运动的机动性及可靠性具有重要意义，未来在微型飞行器的编队飞行、精确任务方面应用前景广阔。为了分析变桨距四旋翼飞行器大角度非线性运动的控制可实现性，采用欧拉法对其建立了非线性动力学模型，并将反馈线性化的非线性控制方法应用于所建立的飞行器模型。最后，结合Simulink软件对非线性控制下四旋翼运动过程的仿真，探讨了非线性控制理论对四旋翼飞行器运动的控制作用，为变桨距四旋翼飞行器大角度非线性运动的控制实现提供参考。%Variable pitch quadrotor aircraft can control the tension of each corresponding rotor by changing the pitch of four rotors, thus adjusting the quadrotor aircraft’s posture and position. Compared with the traditional single speed regulation, quadrotor aircraft’s pitch control strategy is of great significance for improving its own maneuverability and reliability, which has a broad application prospect in micro aircraft’s formation flight and precise mission in the future. To analyze the realizability to control the variable pitch quadrotor aircraft’s wide-angle nonlinear motion, a non-linear dynamic model of aircraft is established with Eulerian approach, and a non-linear control method with feedback linearization is applied to the established aircraft model. Finally, by simulating the quadrotor aircraft’s motion process under non-linear control with Simulink software, the effect of nonlinear control theory on quadrotor aircraft’s motion control is discussed, which provides a reference for realizing control of variable pitch quadrotor aircraft’s wide-angle nonlinear motion.
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