基于QFT的变距变转速四旋翼飞行器控制技术研究

发布时间：2018-01-04 06:38

本文关键词：基于QFT的变距变转速四旋翼飞行器控制技术研究　出处：《南京航空航天大学》2016年硕士论文　论文类型：学位论文

【摘要】：四旋翼飞行器具有结构对称、构造简单、优越的悬停和低速飞行性能、灵活简便的操纵方式等特点,是目前研究的热点。小型四旋翼飞行器往往载重和续航时间受限,本文以具有大载重、长续航时间的变距变转速四旋翼飞行器为研究对象,建立了飞行动力学模型,进行控制律设计,实现了MATLAB/Flightgear的联合视景仿真。首先,针对变距变转速四旋翼飞行器,分析其运动方式和工作原理,建立其非线性飞行动力学模型,并基于小扰动假设对非线性模型作了配平计算,对飞行器的操纵性和耦合性作了分析,为控制律设计奠定了基础。其次,针对建立的变距变转速四旋翼飞行器飞行动力学模型,设计其控制律。基于定量反馈理论(QFT)设计了其姿态角速率回路的控制器和滤波器,使得内环回路具有良好解耦和跟踪性能;外环控制回路(姿态回路、三轴线速度回路、三轴位置回路)采用经典PID理论进行设计。通过MTALAB/Simulink仿真验证表明运用QFT设计的内回路具有很强的抗干扰和解耦性能,运用PID控制理论设计的外回路具有良好的控制效果。再次,建立了三维实时视景仿真平台。通过UDP通信协议,进行了MATLAB与Flight Gear联合仿真,通过三维可视仿真实验进一步验证控制律性能。最后,对变距变转速四旋翼飞行器的硬件系统进行了介绍,并进行了试飞实验。
[Abstract]:Four rotor aircraft with symmetrical structure, simple structure, superior hover and low speed flight performance characteristics, flexible and simple control methods, is a hot topic at present. A small four rotor aircraft often load and the life time is limited, this paper has a large load, long life time of the variable pitch variable speed four rotor aircraft as the research object. A flight dynamics model, the control law design, realizes the combination of visual simulation of MATLAB/Flightgear. Firstly, aiming at the variable pitch variable speed four rotor aircraft, analysis the movement mode and working principle, establish the nonlinear flight dynamics model, and based on the assumption of small disturbance of nonlinear model for the calculation of the aircraft maneuverability. And the coupling is analyzed, which laid the foundation for the design of control law. Secondly, according to the establishment of the variable pitch variable speed four rotor aircraft flight dynamics model. The control law. Based on quantitative feedback theory (QFT) controller and filter the angular velocity loop design, the inner loop has good decoupling and tracking performance; the outer control loop (three axis attitude loop, speed loop, position loop three axis) using classical PID theory is verified by MTALAB/Simulink simulation design. Show that the use of inner loop QFT design has a strong anti-interference and decoupling performance, using PID control theory to the design of the outer loop has good control effect. Thirdly, a real-time 3D scene simulation platform. Through the UDP communication protocol, the joint simulation of MATLAB and Flight Gear, the 3D visual simulation experiment to validate control the law of performance. Finally, the hardware system of variable pitch variable speed four rotor aircraft were introduced, and the experimental test.

【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V249.1;V275.1

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