四旋翼无人机非线性控制研究

发布时间：2018-06-14 21:48

本文选题：四旋翼无人机 + 非线性建模　；参考：《东南大学》2015年硕士论文

【摘要】：四旋翼无人机是一种性能优良的无人机。与常规固定翼无人机相比,它具有机械结构简单,可垂直起降,安全性好,能实现侧飞、倒飞等动作等诸多优点,在军事、民用等领域具有广阔的应用前景。本文以四旋翼无人机为研究对象,对四旋翼无人机飞行实验平台设计、非线性建模、非线性控制算法设计、姿态解算等进行了研究。首先,针对本课题组的研究需求,从机架整体设计、硬件选型、软件设计三方面对四旋翼无人机飞行实验平台进行了设计。其中机架整体设计从机械要求、控制性能、飞行任务要求三个角度进行了分析；硬件选型主要针对飞行需求,本着轻便灵活的原则对各模块进行选择；软件设计则主要是指对无人机系统总体软件流程进行设计,并对初始化、传感器数据采集、安全检测三部分作了进一步的设计。其次,对微小型四旋翼无人机进行数学建模并设计相应的控制系统。数学建模部分根据无人机的飞行原理和刚体的空间运动方程,并结合具体的无人机对象,建立了四旋翼无人机的非线性数学模型。针对四旋翼无人机难以建立精确模型的特点,利用自抗扰控制方法,结合所建模型中姿态环节的具体形式,分别设计了滚转、俯仰和偏航通道的自抗扰解耦控制器,并利用仿真实验验证了控制器的性能。最后,针对传感器模块直接测量信息存在较大偏差的现象,设计姿态测量系统以提高无人机传感器模块信息测量的整体性能。在分析了传感器的测量误差产生原因的基础上,结合陀螺仪、加速度计、地磁计的测量特性,对多传感器的测量信息进行整合。基于迭代的扩展卡尔曼滤波算法,设计了基于IEKF的四旋翼无人机姿态测量系统,并通过实验验证了该设计的有效性。
[Abstract]:The four-rotor UAV is a kind of UAV with excellent performance. Compared with the conventional fixed-wing UAV, it has many advantages, such as simple mechanical structure, vertical take-off and landing ability, good security, side flight, inverted flight and so on, so it has a broad application prospect in military, civil and other fields. In this paper, a four-rotor UAV flight experimental platform design, nonlinear modeling, nonlinear control algorithm design, attitude calculation and so on are studied. Firstly, according to the research demand of our group, the flight experimental platform of four-rotor UAV is designed from three aspects: the overall design of the frame, the selection of hardware and the design of software. The overall design of the frame is analyzed from three aspects: mechanical requirements, control performance and mission requirements; hardware selection is mainly aimed at flight requirements, and each module is selected according to the principle of portability and flexibility. The software design mainly refers to the design of the overall software flow of UAV system, and the further design of initialization, sensor data acquisition and security detection. Secondly, the micro four-rotor UAV is modeled and the corresponding control system is designed. In the part of mathematical modeling, the nonlinear mathematical model of four-rotor UAV is established according to the flight principle of UAV and the space motion equation of rigid body, and combined with the object of UAV. In view of the difficulty of establishing accurate model of four-rotor UAV, the active disturbance rejection decoupling controller of roll, pitch and yaw channel is designed by using the active disturbance rejection control method and the specific form of attitude link in the established model. The performance of the controller is verified by simulation experiments. Finally, the attitude measurement system is designed to improve the overall performance of UAV sensor module information measurement. Based on the analysis of the causes of measurement errors of sensors, the measurement information of multi-sensor is integrated with the measurement characteristics of gyroscopes, accelerometers and geomagnemeters. An IEKF-based attitude determination system for a four-rotor UAV is designed based on iterative extended Kalman filtering algorithm. The effectiveness of the design is verified by experiments.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V279;V249.1

【相似文献】