CN109270834A - A kind of design method based on PID four-rotor aircraft control system - Google Patents
A kind of design method based on PID four-rotor aircraft control system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The invention discloses a kind of design methods based on PID four-rotor aircraft control system, and method is such as are as follows: Step 1: carrying out theory analysis to four kinds of basic flight attitudes；Step 2: releasing kinetic model, kinematics model and the state equation model of body；Step 3: the control system of design quadrotor；Step 4: being directed to different models, adaptable PID control channel is designed；Step 5: verifying pid control algorithm has better adaptability and stability to the control of body flight attitude by the simulation experiment result.Beneficial effects of the present invention: the preferably flight mechanism and spatial attitude of reaction quadrotor.Simplify and is designed into control to the process realized.Each simulation model of building is simplified efficiently, can be applied directly in the practical flight of quadrotor.Adjustment flight attitude in time, improves the adaptability and stability of aerial work, has stronger anti-interference.
Description
Technical field
The present invention relates to a kind of design methods of flight control system, in particular to a kind of to be flown based on PID quadrotor
The design method of device control system.
Background technique
Currently, quadrotor has, structure is simple, small in size, flexibility ratio is high, easy to control and to complex environment
The advantages that adaptable.When taking photo by plane in the sky, computer control platform can be relied on to provide control parameter and carry out autonomous flight
The real time data of acquisition is sent ground support system in time by operation, thus realize at the same time between, multi-faceted information sharing,
It can satisfy military requirement and civilian cause.
Quadrotor housing construction uses criss-cross construction, and four vertex are all made of identical individual motor, leads to
It crosses four motor driven rotors and generates lift.For the torque reaction for overcoming body, four rotors are divided into two groups, are only passed through
The direction of rotation of two rotors of central symmetry distribution is identical, can only adjust flight attitude by changing the variation of revolving speed with this
And positional relationship, the lift that four rotors generate can control the variation of six-freedom degree, but since aircraft is with non-thread
Property, strong coupling, time variation and the characteristics such as uncertainty caused by being perturbed due to aerodynamic parameter, at this stage, the overwhelming majority four is revolved
Rotor aircraft model is not consistent with realistic model, and the independent flight control system of design cannot be directly used to practical quadrotor and fly
On row device.
Summary of the invention
The purpose of the present invention is to solve the deficiencies of existing quadrotor control technology, and quadrotor at this stage
Aircraft mathematical model is not inconsistent with realistic model, and control system is caused to cannot be directly used to the problem on practical quadrotor
And a kind of design method based on PID four-rotor aircraft control system provided.
Design method provided by the invention based on PID four-rotor aircraft control system, method are as described below:
Step 1: the flight mechanism of analysis quadrotor, six based on body coordinate system establishment spatial movement are certainly
Theory analysis is carried out by spending, and to four kinds of basic flight attitudes；
Step 2: establishing the mathematical model of quadrotor, for body flight mechanism and posture, the dynamic of body is released
Mechanical model, kinematics model and state equation model；
Step 3: the control system of design quadrotor, position, speed and the posture of body are realized with PID control
Three kinds of circuit controls pass through Real-time Feedback, control flight；
Step 4: four-rotor aircraft control system simulation model of the building based on PID control, in Matlab/
In Simulink environment, body power F is constructed1F2F3F4Simulation model, attitude angle φ θ ψ simulation model and in coordinate system three
Component F on a directionxFyFzSimulation model, and it is directed to different models, design adaptable PID control channel；
Step 5:, in three kinds of different working environments, examining four according to the actual working environment of quadrotor
The working condition of rotor craft, with three kinds of step control signal, impulse disturbances torque and gust disturbance torque different inputs
Under amount, emulation experiment is carried out, the response curve of attitude angle is observed by oscillograph, by the simulation experiment result, verifies PID control
Algorithm has better adaptability and stability to the control of body flight attitude.
Beneficial effects of the present invention:
(1), the present invention is derived and is optimized to quadrotor mathematical model, can preferably be reacted quadrotor and be flown
The flight mechanism and spatial attitude of row device.
(2), mathematical method of the invention and deformation formula are also applicable in other rotor crafts of non-quadrotor structure.
(3), the PID control system structural approach that the present invention uses quadrotor is not only simple and efficient, and can also be answered
Used in the control system of other machinery fields, it can simplify and be designed into control to the process realized.
(4), the present invention is in Matlab/Simulink environment, each simulation model of building, simplifies efficiently, can directly answer
It uses in the practical flight of quadrotor.
(5), for the present invention compared with the control technology of existing quadrotor, the present invention makes aircraft in several frequently seen gas
Drain off disturb down can faster response, adjust flight attitude in time, improve the adaptability and stability of aerial work, have it is stronger
It is anti-interference.
Detailed description of the invention
Fig. 1 is the Eulerian angles schematic diagram in xyz coordinate.
Fig. 2 is the housing construction schematic diagram of quadrotor.
Fig. 3 is PID control block diagram.
Fig. 4 is quadrotor overall control block diagram.
Fig. 5 is the gesture stability block diagram of PID control.
Fig. 6 is quadrotor system control model schematic diagram.
Fig. 7 is quadrotor mathematic simulated mode schematic diagram.
Fig. 8 is power F1F2F3F4Model.
Fig. 9 is angular speed pqr model.
Figure 10 is attitude angle φ θ ψ model.
Figure 11 is component FxFyFzModel.
Figure 12 is location information xyz model.
Figure 13 is the step response schematic diagram of attitude angle.
Figure 14 is the response curve schematic diagram of the attitude angle under impulse disturbances moment loading.
Figure 15 is the response curve schematic diagram of the attitude angle under gust disturbance moment loading.
Specific embodiment
It please refers to shown in Fig. 1 to Figure 15:
Design method provided by the invention based on PID four-rotor aircraft control system, method are as described below:
Step 1: the flight mechanism of analysis quadrotor, six based on body coordinate system establishment spatial movement are certainly
Theory analysis is carried out by spending, and to four kinds of basic flight attitudes；
When to the analysis of quadrotor flight mechanism, while retention performance, Simplified analysis.Body is right-angled intersection
Structure and by the rigid body of center symmetrically, body with flying height increase, suffered by gravity and resistance etc.
Can remain unchanged or influence very little can be not considered.The geometric center of body, body center of gravity with body coordinate system and
The origins of space coordinates is overlapped, in space the pulling force of all directions all with square direct proportionality of motor speed.
Quadrotor is to control six output quantities (three attitude angles and three by four input quantities (four motor speeds)
A location information) constitute under-actuated systems.Body spatially shows as four kinds of basic spatial movement flight attitudes and six
A freedom degree.Four kinds of basic spatial movement flight attitudes include displacement of the lines on the direction of three, space and horizontally rotate, and six
Freedom degree is displacement of the lines x, y, z, roll angle φ, pitching angle theta and yaw angle ψ respectively.
As shown in Figure 1, it is as follows to define Eulerian angles respectively:
Yaw angle ψ: projection and X-axis angle of the OX in OXY plane；
Pitching angle theta: projection and Z axis angle of the OZ in OXZ plane；
Projection and Y-axis angle of roll angle φ: OY in OYZ plane；
Here is the theory analysis of four kinds of basic flight attitudes:
Give four rotors to increase identical lift, according to Newton's second law, when synthesis total life in vertical direction
Greater than quadrotor itself gravity when, i.e., the resultant force of body is upward in vertical direction, body may be implemented upwards fly
Row.Similarly, reduce identical lift to four rotors, the resultant force in vertical direction is downward, then falls downward may be implemented in body.
Wherein it should be noted that place be that the lift of four motors has to identical, certain rotation otherwise can be generated in xoy plane
Torque, this turning moment can cause certain interference in flight to aircraft.
When the lift for increasing No. 3 rotors, and when the lift of No. 1 rotor of reduction, it will generate in xoz plane and be revolved around y-axis
What is turned rotates in the forward direction torque, upward deflects the pitch angle of body, then pitch angle is positive value.Since the resultant force on body can be
A component is generated in negative direction of the x-axis, moves body backward.Similarly, when the lift for increasing No. 1 rotor, and reduce 3
The lift of number rotor, the reverse rotation torque rotated around y-axis will be generated in xoz plane, keeps the pitch angle of body downward
Deflection, then pitch angle is negative value.Since the resultant force on body can generate a component in positive direction of the x-axis, carry out body
It travels forward.
When the lift for increasing No. 2 rotors, and when the lift of No. 4 rotors of reduction, it will generate in yoz plane and be revolved around x-axis
What is turned rotates in the forward direction torque, deflects the roll angle of body to the right, then roll angle is positive value.Since the resultant force on body can be
A component is generated in positive direction of the y-axis, moves right body.Similarly, when the lift for increasing No. 4 rotors, and 2 are reduced
The lift of number rotor, the reverse rotation torque rotated around x axis will be generated in yoz plane, makes the roll angle of body to the left
Deflection, then roll angle is negative value.Since the resultant force on body can generate a component in negative direction of the y-axis, carry out body
It moves downward.
Body can be made to realize rotation on xoy horizontal plane using turning moment.As shown in Fig. 2, due to No. 1 and No. 3 rotation
The wing is to rotate counterclockwise, No. 2 and No. 4 rotors be rotate clockwise, so two groups of generated reaction force square direction of rotation on the contrary, the former
Clockwise countertorque is provided for body, the latter provides countertorque counterclockwise for body.Therefore by increasing No. 1 and No. 3 rotation
The revolving speed of the wing and the revolving speed for reducing by No. 2 and No. 4 rotors, then it is clockwise countertorque that resultant moment is generated on xoy horizontal plane, from
And rotating clockwise for body may be implemented.When increase No. 2 and No. 4 rotors revolving speed and reduction No. 1 and No. 3 rotor revolving speed,
It is countertorque counterclockwise that resultant moment is then generated on xoy horizontal plane, so as to realize rotating counterclockwise for body.
Step 2: establishing the mathematical model of quadrotor, for body flight mechanism and posture, the dynamic of body is released
Mechanical model, kinematics model and state equation model；
For simplifying the analysis, idealization hypothesis is carried out to quadrotor unmanned vehicle.Quadrotor is derived below
The equation of motion.
It is converted according to coordinate, obtains transition matrix of the earth axes to body coordinate system are as follows:
Meet equation: Xbody=SXearth (2)
The lift for defining four propellers generation of body is F1、F2、F3、F4；Component on three axis of space x, y, z is
Fx、Fy、Fz；The Matrix Formula of the lift of four rotors of body are as follows:
It is fastened in ground coordinate, the component Matrix Formula on three change in coordinate axis direction are as follows:
It is fastened in ground coordinate, the linear velocity equation of motion on three change in coordinate axis direction are as follows:
Wherein body quality is m；Coefficient of air resistance is respectively D on three axis of x, y, zx、Dy、Dz.The power of Rigid Body in Rotation With
Learn equation:
Wherein the Matrix Formula of the angular velocity vector of body isIts inertial matrix formula are as follows:
Analyze the rolling moment, pitching moment and yawing of quadrotor again below, wherein l is single rotor
Bar is long, and C is proportionality coefficient.
Rolling torque can indicate are as follows: MΦ=l (F2-F4) (8)
It can indicate are as follows: Mθ=l (F3-F1) (9)
Yawing can indicate are as follows: Mψ=C (F1-F2+F3-F4) (10)
In fact, body in flight course there is also a degree of gyroscopic effect, the gyro power that is generated in flight
Square can indicate are as follows: Mgvro=∑ Ω × Hi (11)
Wherein H is the moment of momentum of rotating part, and the moment of momentum H of body can be indicated are as follows:
Wherein jrFor the rotary inertia on z-axis direction；ωiIt (i=1,2,3,4) is the angular speed of four rotors.
Quadrotor can be indicated by total moment of face are as follows:
(13) are substituted into (6) and are obtained:
Angular velocity component p, q, r on attitude angular rate φ, θ, ψ of many unmanned planes and three directions of space coordinates
Between all there is certain mathematical relationship, be formulated are as follows:
When pitch angle of the body in flight course and all very small roll angle variation, above-mentioned formula be can simplify are as follows:
The above are the derivation processes of body kinetics equation and kinematics model.It takes:
Wherein u1、u2、u3、u4It is the control signal input quantity of four autonomous channels of system.Equation 17 convert
It arrives:
By uf=-w1+w2-w3+w4See the interference of system as, then equation 14 can be with abbreviation are as follows:
It enables:
Specifically can may be used the kinetic model of quadrotor and kinematics model are changed into state equation model
To indicate are as follows:
There are many parameters in states above equation, the parameters to accurately obtain in state equation are a meters
Huge engineering is measured in calculation.It there may come a time when calculating, data processing for convenience, or even prototype part be replaced.Fly in quadrotor
It in row device design process, is compared by repetition test, and to the parameter of different aircraft, determines and needed when probing into use
The parameter area used, by just slightly estimating, selected parameter is as follows: m=1.2kg, C=0.0026, l=0.26m, Dx=Dy
=10-6N·(m/s)-2, Dz=10-4N·(m/s)-2, Jx=Jy=0.015kgm2, Jz=0.026kgm2, Jr=10- 4kg·m2。
Transmission function:
Control semaphore u as four independent control channels of system1、u2、u3、u4The liter generated with four rotors of body
Power F1、F2、F3、F4Between the bridge that controls.Wherein k is the proportionality coefficient controlled between semaphore and lift.In practical debugging
When, by debugging result as can be seen that the size of k value influences emulation simulation result less, k value to be taken 1, in order to carry out more
Simple specific control algolithm analysis.
Step 3: the control system of design quadrotor, position, speed and the posture of body are realized with PID control
Three kinds of circuit controls pass through Real-time Feedback, control flight；
Four-rotor aircraft control system is that have non-linear, strong coupling, time variation, under-actuated systems.PID control
Controlling party mask on single autonomous channel is advantageous, algorithm structure realize it is simple, by select suitable ratio, differential,
Integral coefficient keeps controlled system with good stability.
Basic PID control rule can indicate are as follows:
Wherein KP、KIAnd KDIt is referred to as ratio, integral, differential coefficient, Fig. 3 is PID control block diagram.
As shown in figure 4, the linear velocity v on three axis of x, y, z that positioner is exportedx、vy、vzIt is fed back to from GPS
The actual speed come is input in speed control together, and data processing is carried out in speed control.Then four rotation of output
Theoretical rotor total life required for rotor aircraft and object attitude angle φ, θ, the ψ for needing to reach, and it is input to gesture stability
In device.By the data processing carried out in attitude controller, the liter of each rotor required for object attitude angle to be reached
Power is calculated, and using lift as known quantity, relevant data calculating is carried out in kinetic model, and transmit the result to boat
In resource system and GPS, attitude angle φ, θ, ψ and location information x, y, z of aircraft are adjusted to realize.It finally will be defeated
Attitude angle φ, θ, ψ and location information x, y, z out is fed back to positioner and speed control, repeatedly, until reaching
Until scheduled target call.
Control loop in control system is mainly three kinds of position control loop, speed control loop and gesture stability circuit
Circuit.
Position control loop: the location information x, y, z of body is input to positioner first, while GPS will be fed back
The real-time position information of body back is also transferred in positioner in time.It is calculated, is calculated by positioner data
Reach the linear velocity v on three axis of x, y, z required for target position information x, y, zx、vy、vz。
Speed control loop: first the target linear velocity v of the calculated body of positionerx、vy、vzIt is input to speed
Spend controller.GPS is also timely fed back in speed control the real-time linear velocity information of body simultaneously.Pass through speed control
Data calculate, and calculating will reach target linear velocity vx、vy、vzThe total pulling force F needediWith object attitude angle φ, θ, ψ.
Gesture stability circuit: first lift F required for the calculated body adjustment flight attitude of speed controliWith
Object attitude angle φ, θ, ψ are input to attitude controller together.Real-time attitude angle φ, θ, ψ of the body fed back are led to simultaneously
It crosses aviation attitude system and is transferred to attitude controller.The lift that body will reach each rotor required for object attitude angle is counted respectively
It calculates, by adjusting the lift F of four rotors1、F2、F3、F4To realize that the flight attitude to body carries out real-time control.
It is obtained by equation 16 and 19:
It is recognised that control signal u from equation 242、u3And u4Directly control angular accelerationAnd then indirectly
Control attitude angle φ, θ, ψ.
As shown in figure 5, object attitude angle φ, θ, ψ are inputted in PID controller first, while the reality that will also feed back
When attitude angle φ, θ, ψ input PID controller in.Then by the control semaphore u of output2、u3、u4With the control semaphore of lift
u1It is input in attitude controller together.By data calculation processing, the value that the lift of each rotor needs is calculated, then posture
Controller exports the lift F of each rotor1、F2、F3、F4, lift carries out data calculating in kinetic model, obtain space x,
Y, the pulling force and torque on tri- axis of z.Pulling force needed for quadrotor gesture stability and torque are substituted into kinematics model,
To obtain the attitude angle and angular speed of body movement, flight attitude can be accurately controlled, attitude angle φ, θ, ψ are obtained, it is easy to
Complete position and speed control.
Step 4: four-rotor aircraft control system simulation model of the building based on PID control, in Matlab/
In Simulink environment, body power F is constructed1F2F3F4Simulation model, attitude angle φ θ ψ simulation model and in coordinate system three
Component F on a directionxFyFzSimulation model, and it is directed to different models, design adaptable PID control channel；
Model is established to state equation 21 with Matlab/Simulink, using stable step signal access system as
The input port of model devises corresponding PID controller to each channel, controls u with pid control algorithm2、u3And u4, then
By the control input quantity u in four independent control channels1、u2、u3And u4It is input to available angle speed in subsystem Subsystem
Spend p, q, r, attitude angle φ, θ, ψ, component Fx、Fy、FzWith location information x, y, z, Fig. 6 is that quadrotor system controls mould
Type.
In system Subsystem, by equation 4,5,14,15,17 and state equation 21, mathematic simulated mode is established.
Because of system closed loop, the control amount u in four independent control channels is inputted in input port1、u2、u3And u4, then exist respectively
F1F2F3F4F is exported in system1、F2、F3、F4, output angular velocity p, q, r in pqr system export attitude angle in φ θ ψ system
φ, θ, ψ, in FxFyFzThe power F on three axis of x, y, z is exported in systemx、Fy、Fz, spatial position x, y, z is exported in xyz system,
Fig. 7 is quadrotor mathematic simulated mode.
In equation 17, the lift F of four rotors1、F2、F3、F4As for input control quantity, signal u is controlled1、u2、
u3、u4For output quantity, convenient for Simplified analysis and mathematical model is understood.In equation 18, u1、u2、u3、u4It is four of control system
The control signal input quantity in independent control channel, four rotor lift F1、F2、F3、F4For output quantity.u1For vertical direction control
Amount, u2For input control quantity of rolling, u3For pitching input control quantity and u4To yaw input control quantity.Pass through transmission function equation
Signal is controlled input quantity u by 221、u2、u3、u4And F1、F2、F3、F4It connects, finally obtains signal controlled variable and motor model
Relationship, Fig. 8 be power F1F2F3F4Model.
Using the lift of four rotors as input quantity F1、F2、F3、F4It substitutes into equation 14 and obtains angular speed p, q, r.Wherein
The u in actually controlf=-w1+w2-w3+w4The interference for seeing system as can be by u in control algolithm theory analysisfAs 0
It is handled, Simplified analysis.Wherein JxJyJzJrFor the rotary inertia of housing construction, C is proportionality coefficient, and Fig. 9 is angular speed
Pqr model.
Angular speed point in flight course, on attitude angular rate φ, θ, ψ of body and three directions of space coordinates
Measuring relationship between p, q, r is equation 15.The mathematical model for constructing closed loop with Matlab/Simulink to equation 15, obtains such as figure
Attitude angle φ θ ψ model shown in 10.
Equation 1 is combined with equation 2, then the lift for obtaining quadrotor is transformed into earth axes equation 4.With appearance
State angle φ, θ, ψ and lift F1、F2、F3、F4As the input quantity of model, then the power F on three axis is exportedx、Fy、Fz.Use Matlab/
Simulink constructs the mathematical model of closed loop, obtains the component F as shown in figure 11 on three directions of coordinate systemxFyFzModel.
Force analysis is carried out with Newton's second law, releases the line equation of motion 5 on three axis of space x, y, z.With three axis
On component Fx、Fy、FzAs input quantity, spatial positional information x, y, z can be exported by calculating.Wherein m is the matter of body
Amount, Dx、Dy、DzFor coefficient of air resistance.The mathematical model that the line equation of motion is established in Matlab/Simulink environment, obtains
Location information xyz model as shown in figure 12.
Step 5:, in three kinds of different working environments, examining four according to the actual working environment of quadrotor
The working condition of rotor craft.With three kinds of step control signal, impulse disturbances torque and gust disturbance torque different inputs
Under amount, emulation experiment is carried out, the response curve of attitude angle is observed by oscillograph, by the simulation experiment result, verifies PID control
Algorithm has better adaptability and stability to the control of body flight attitude.
In the simulation model of foundation, response speed and overshoot are most important two parameters of control system.Pass through choosing
With the pid parameter K debuggedp、Ki、KdCarry out control experiment.
In the pid parameter K after debugging repeatedly, finally chosenp、Ki、KdIt is respectively as follows:
Roll channel: Kp=0.6, Ki=0.8, Kd=0.2；
Pitch channel: Kp=0.6, Ki=0.8, Kd=0.2；
Jaw channel: Kp=1.0, Ki=0.8, Kd=0.4；
1) initial attitude angle of body being set as (0 °, 0 °, 0 °) first, object attitude angle is set as (15 °, 15 °, 0 °),
By being emulated in Matlab/Simulink environment, it can be seen that posture of the body when adjusting flight attitude from oscillograph
The step response at angle.As shown in figure 13, between 0-7s, attitude angle surrounds the step response of attitude angle φ, θ, ψ of control system
15 ° shake repeatedly, when to 7s or so, attitude angle starts to tend towards stability, and maximum overshoot is during gesture stability
12°.Illustrate body when flight attitude is adjusted, pid control algorithm can carry out in a relatively short period of time pose adjustment to body.
2) when detection quadrotor hovers in the sky, the pulse anti-interference ability of aircraft.Assuming that flying before 0s
Row device is in floating state, i.e. body stress balance in the sky at this time.In 0s, respectively to the input terminal of three torque, simultaneously
In addition amplitude 2.5Nm, the time is the disturbance torque of 0.1s, it can be seen that body is when by impulse disturbances from oscillograph
The step response of attitude angle.As shown in figure 14, when a short time, lasting impulse disturbances torque added on board the aircraft, control
The step response of attitude angle φ, θ, ψ of system between 0-6s, shake repeatedly around 0 ° by attitude angle, when arriving 6s or so, appearance
State angle starts to tend towards stability, and maximum overshoot is 3 ° during gesture stability.When body is persistently interfered by the short time,
Restore the state of hovering in the shorter time.Illustrate body when being interfered by the short time, pid control algorithm can make body compared with
State before restoring in the short time.
3) when detection quadrotor hovers in the sky, the gust disturbance ability of aircraft.Assuming that before 0s, flight
Device is in floating state, i.e., body is force balance state in the sky at this time.At 0 second, respectively to the input terminal of three torque,
An amplitude 2.5Nm is added simultaneously, and the time is that the constant value disturbance torque of 3s can from oscillograph to simulate the interference of fitful wind
To see the step response of attitude angle of body when by gust disturbance.As shown in figure 15, when a lasting constant value interference
When torque is added on board the aircraft, attitude angle φ, θ, ψ variation tendency of aircraft.The adjustment of roll angle and pitch angle is to pass through tune
The variation of the lift of the corresponding rotor of complete machine body, to generate the countertorque for resisting disturbance torque；And the adjustment of yaw angle be then by
The moment of reaction of four rotors is realized.Since figure it will be seen that roll angle and pitch angle most vibrate repeatedly, then
It tends towards stability, in 6s or so, is restored to floating state.But because the control ability of jaw channel is insufficient, reaction force
Square can not offset the interference artificially applied, to gradually dissipate, and because the coupling in channel opens pitching and roll also
Beginning unstability illustrates that the control ability of jaw channel is weaker.
By emulation experiment as a result, show it is proposed by the present invention it is a kind of based on the control algolithm of PID to quadrotor fly
The flight attitude of device has carried out effective control, and in three kinds of different working environments, aircraft is with better adaptability and surely
It is qualitative.
Claims (1)
1. a kind of design method based on PID four-rotor aircraft control system, it is characterised in that: its method is as described below:
Step 1: the flight mechanism of analysis quadrotor, the six-freedom degree of spatial movement is established based on body coordinate system,
And theory analysis is carried out to four kinds of basic flight attitudes；
Step 2: establishing the mathematical model of quadrotor, for body flight mechanism and posture, the dynamics of body is released
Model, kinematics model and state equation model；
Step 3: the control system of design quadrotor, with the position of PID control realization body, speed and three kinds of posture
Circuit control passes through Real-time Feedback, control flight；
Step 4: four-rotor aircraft control system simulation model of the building based on PID control, in Matlab/Simulink ring
In border, body power F is constructed1F2F3F4Simulation model, attitude angle φ θ ψ simulation model and on three directions of coordinate system
Component FxFyFzSimulation model, and it is directed to different models, design adaptable PID control channel；
Step 5:, in three kinds of different working environments, examining quadrotor according to the actual working environment of quadrotor
The working condition of aircraft, under three kinds of step control signal, impulse disturbances torque and gust disturbance torque different input quantities,
Emulation experiment is carried out, the response curve of attitude angle is observed by oscillograph, by the simulation experiment result, verifies pid control algorithm
There is better adaptability and stability to the control of body flight attitude.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110379285A (en) * | 2019-06-28 | 2019-10-25 | 西安交通大学 | A kind of rectangular pyramid solid inverted pendulum device and control method |
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| CN110379285A (en) * | 2019-06-28 | 2019-10-25 | 西安交通大学 | A kind of rectangular pyramid solid inverted pendulum device and control method |
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| CN114237274A (en) * | 2021-09-28 | 2022-03-25 | 航天时代飞鸿技术有限公司 | IMU-fused fast sensing method and system for environmental obstacles of rotor unmanned aerial vehicle |
| CN114237274B (en) * | 2021-09-28 | 2024-04-19 | 航天时代飞鸿技术有限公司 | Method and system for quickly sensing environmental obstacle of rotor unmanned aerial vehicle fused with IMU |
| CN115817859A (en) * | 2023-02-16 | 2023-03-21 | 西安空天引擎科技有限公司 | Reusable carrier rocket rolling channel control method |
| CN115857309A (en) * | 2023-02-27 | 2023-03-28 | 华东交通大学 | Fault-tolerant control method and system for tiltable six-rotor unmanned aerial vehicle |
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