四旋翼飞行器姿态控制系统研究

发布时间：2018-06-17 19:38

本文选题：四旋翼飞行器 + 模糊PID控制　；参考：《江苏理工学院》2016年硕士论文

【摘要】：四旋翼飞行器是一个复杂的非线性系统,具有体形较小,无人驾驶,控制方法多样,造价低廉且能够在空中自主飞行等优点,因此被广泛应用于军用、民用等领域。但是由于干扰和不确定因素的存在,实现四旋翼飞行器的平稳飞行控制具有一定的困难。然而要想实现四旋翼飞行器的平稳飞行,四旋翼姿态稳定性方面的研究价值越来越得到了提升。据此,本文围绕四旋翼飞行器的姿态控制进行研究,具体的工作有如下几个方面:(1)基于四旋翼飞行器的研究背景,回顾了其国内外的研究现状,梳理了主要的控制方法,同时对四旋翼飞行器的飞行原理、四元数法和卡尔曼滤波算法等进行了初步的分析和阐述。(2)根据控制、所需功能的需求,对STM32F103VCT6微控制器为核心的四旋翼飞行器软硬件进行设计。(3)首先,在动力学模型基础上运用串级PID控制对四旋翼飞行器的六个状态通道进行整体控制。然后以其中一个状态通道为例,采用经典PID算法、模糊算法、模糊PID算法对其运用MATLAB进行仿真和对比;同时设计了改进的离散滑模控制器,并给出了传统与改进的控制方法仿真及对比;最后设计了优化的神经网络滑模控制器,即利用BP神经网络的输出ε(k)和δ(k)分别代替常规趋近律中的常数ε、δ,改善了控制效果。(4)在F450四旋翼飞行器基本测试平台上,对飞行控制算法进行了平台测试及软硬件的调试。本文在四旋翼飞行器动力学模型的基础上设计了模糊PID控制、改进的离散滑模控制、优化的神经网络滑模控制等得到了较传统方法更优的响应特性为今后的深入研究奠定了理论基础;且对四旋翼飞行器的软硬件进行了设计并利用串级PID算法实现了四旋翼飞行器的平稳飞行,为实现多功能研究提供了测试平台。
[Abstract]:Four-rotor aircraft is a complex nonlinear system with the advantages of small size unmanned control methods low cost and the ability to fly independently in the air so it has been widely used in military civilian and other fields. However, due to the existence of disturbance and uncertainty, it is difficult to realize the smooth flight control of four-rotor aircraft. However, in order to achieve the smooth flight of the four-rotor aircraft, the research value of the four-rotor attitude stability has been improved more and more. Accordingly, this paper focuses on the attitude control of four-rotor aircraft. The specific work is as follows: 1) based on the research background of four-rotor aircraft, this paper reviews the current research situation at home and abroad, and sorts out the main control methods. At the same time, the flight principle, quaternion method and Kalman filter algorithm of the four-rotor aircraft are analyzed and expounded. The software and hardware of the four-rotor aircraft with STM32F103VCT6 microcontroller as the core are designed. Firstly, based on the dynamic model, the six state channels of the four-rotor aircraft are controlled by cascade pid control. Then taking one of the state channels as an example, the classical pid algorithm and the fuzzy pid algorithm are used to simulate and compare them with MATLAB. At the same time, an improved discrete sliding mode controller is designed. The simulation and comparison between the traditional control method and the improved control method are given. Finally, an optimized neural network sliding mode controller is designed. That is to say, the output 蔚 k of BP neural network and 未 K) are used to replace the constant 蔚, 未 in the conventional approach law respectively, and the control effect is improved. The flight control algorithm is tested on the basic test platform of F450 four-rotor aircraft, and the software and hardware of the flight control algorithm are debugged. In this paper, a fuzzy pid control, an improved discrete sliding mode control, is designed based on the dynamic model of a four-rotor aircraft. The optimized neural network sliding mode control and so on obtained the better response characteristic than the traditional method, which laid the theoretical foundation for the further research in the future. The software and hardware of the four-rotor aircraft are designed and the stable flight of the four-rotor aircraft is realized by using cascade pid algorithm, which provides a test platform for multi-functional research.
【学位授予单位】：江苏理工学院
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V249.1

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