基于四旋翼动力学模型的姿态角增稳PID控制器设计

摘要

目前无人机巡检高压输电线路的主要方式是通过机载可见光相机以及红外相机对巡检对象进行拍摄获取相关影像资料,而无人机在空中悬停由于受到各种因素的干扰使相机在拍摄时对焦困难. 针对上述问题,设计了基于四旋翼动力学模型的PID控制器. 首先介绍了四旋翼无人机的飞行原理,然后对四旋翼动力学模型进行了推导,进而在模型的基础上设计了PID控制器,最后通过仿真和现场实验,验证了控制器在实现无人机悬停姿态角增稳上的有效性.%The main way of unmanned aerial vehicle's checking is through the airborne visible light camera as well as the inspection object infrared cameras to obtain the relevant image information , and the UAV hovering in the air will be affected by various camera focus in difficult because of interference .Focusing on the problem above , it designs the PID controller based on four -rotor dynamics model.It introduces the principle four -rotor flying, describes the four-rotor dynamic model .Based on the model , it designs the PID controller .The simulation and field experimentation verify the controller in the effectiveness of the UAV hovering attitude angle stabilization .