基于Backstepping和H_∞回路成形方法的微小型四旋翼飞行器控制器设计

发布时间：2018-04-04 04:46

  本文选题：四旋翼飞行器　切入点：非线性模型　出处：《东南大学》2016年硕士论文

【摘要】：四旋翼飞行器是一种性能优良的VTOL(垂直起降)飞行器。相对于单旋翼飞行器,它具有结构简单、飞行速度快等优点,可广泛用于低空巡逻、军事侦查、航空摄影、气象勘测等方面,具有重大的使用价值和广阔的发展前景。本文在简述四旋翼飞行器的发展现状、研究热点和控制算法的基础上,以飞行器的控制器算法为研究主题,重点研究了四旋翼飞行器的动力学模型,并针对四旋翼飞行器的姿态控制、位置控制和速度控制设计了对应的控制算法,并通过仿真实验,验证了设计的控制算法的正确性和有效性。首先,针对四旋翼飞行器的机械机构、控制和飞行任务三个方面的要求,设计了合理的机身架构和硬件系统。在机身架构方面,完成了机体材料的选取和机身结构的设计；在硬件系统方面,采用模块化的思想完成了控制器模块、传感器模块、执行器模块、无线通信模块、电源模块的设计。最后给出了机载软件的总体设计流程图。其次,介绍了导航常用的坐标系以及坐标变换,分析了飞行器姿态角的含义。在此基础之上对飞行器进行数学建模,根据其机体结构特征以及动力学特性并依据牛顿-欧拉方程推导出了四旋翼飞行器的非线性动力学方程,为控制器的设计奠定了基础。随后,分析得到的四旋翼飞行器的非线性动力学方程,根据系统状态变量之间的耦合关系将四旋翼飞行器模型划分为了三个控制子系统,分别为姿态控制器、速度控制器以及位置控制器。然后分别使用基于非线性控制理论的Backstepping方法以及基于线性控制理论的玩回路成形的方法针对上述的三个子系统设计了相应的控制器。最后,对上述基于两种控制理论设计出来的控制器分别进行了仿真实验,实验结果表明所设计的基于Backstepping以及H∞回路成形方法设计的控制器具有良好的控制效果。然后,比较两种方法的实验仿真结果并分析总结两种方法的优劣之处。
[Abstract]:Four-rotor aircraft is a VTOL (vertical takeoff and landing) aircraft with excellent performance.Compared with single-rotor aircraft, it has the advantages of simple structure and fast flying speed. It can be widely used in low-altitude patrol, military reconnaissance, aerial photography, meteorological survey and so on. It has great application value and broad development prospect.In this paper, based on a brief introduction of the development status, research focus and control algorithm of the four-rotor aircraft, the dynamic model of the four-rotor aircraft is studied with the controller algorithm of the aircraft as the research topic.The corresponding control algorithms are designed for the attitude control, position control and speed control of the four-rotor aircraft, and the correctness and effectiveness of the proposed control algorithm are verified by simulation experiments.Firstly, a reasonable fuselage structure and hardware system are designed to meet the requirements of mechanical mechanism, control and mission.In the fuselage structure, the selection of the body material and the design of the fuselage structure are completed. In the hardware system, the controller module, the sensor module, the actuator module and the wireless communication module are completed by modularization.The design of power module.Finally, the overall design flow chart of airborne software is given.Secondly, the coordinate system and coordinate transformation in navigation are introduced, and the meaning of attitude angle of aircraft is analyzed.On this basis, the mathematical modeling of the aircraft is carried out, and the nonlinear dynamic equations of the four-rotor aircraft are derived according to the structural and dynamic characteristics of the aircraft and the Newton-Euler equation, which lays a foundation for the design of the controller.Then, the nonlinear dynamic equations of the four-rotor aircraft are analyzed. According to the coupling relationship between the system state variables, the model of the four-rotor aircraft is divided into three control subsystems, which are attitude controllers.Speed controller and position controller.Then the Backstepping method based on the nonlinear control theory and the play loop shaping method based on the linear control theory are used to design the corresponding controllers for the three subsystems mentioned above.Finally, the controller designed based on two kinds of control theory is simulated. The experimental results show that the controller designed based on Backstepping and H 鈭，

本文编号：1708427