四旋翼飞行器轨迹及运动目标跟踪控制研究
发布时间：2018-07-15 11:04
【摘要】：四旋翼飞行器由于具有垂直起降、自主悬停和控制灵活等优点,越来越广泛地被应用到军事、工业生产和生活中。随着应用领域的不断扩展,对其控制精度提出了越来越高的要求,尤其是在室内狭小的环境内,控制精度往往决定着其应用的价值。本文对四旋翼飞行器的姿态解算、轨迹跟踪及运动目标跟踪进行相关研究。主要工作如下:首先,对四旋翼飞行器的关键技术及国内外研究现状进行了详细阐述,分析了飞行器的系统组成和飞行原理,针对四旋翼飞行器非线性、强耦合、多变量和欠驱动的特点,结合飞行器飞行时接近悬停的运动状态,建立了四旋翼飞行器的动力学模型。其次,对四旋翼飞行器轨迹跟踪系统进行了程序设计,搭建了轨迹跟踪实验平台,采用基于视觉的室内空间三维运动捕捉系统对飞行器进行位置反馈,针对四旋翼飞行器姿态解算问题,采用卡尔曼滤波算法对飞行器进行姿态解算,并分别采用PID和模糊PID两种控制器实现了对四旋翼飞行器的姿态调整和位置控制,实验结果表明四旋翼飞行器能按预定的轨迹平稳飞行,模糊PID控制器有更高的控制精度。最后,在轨迹跟踪的基础上,设计了四旋翼飞行器运动目标跟踪系统。搭建了系统实验平台,该实验平台由地面控制中心、四旋翼飞行器、地面移动机器人和室内空间三维运动捕捉系统组成。设计程序实现了在未知地面移动机器人轨迹的情况下四旋翼飞行器对地面移动机器人的跟踪,实验结果进一步表明模糊PID控制器具备更好的控制特性。
[Abstract]:Four rotor aerocraft has been widely used in military, industrial production and life because of its advantages of vertical landing and landing, autonomous hovering and flexible control. With the continuous expansion of the application field, the control precision is more and more high, especially in the small indoor environment, the control precision often determines its application. In this paper, the attitude calculation, track tracking and moving target tracking of the four rotor aircraft are studied. The main work is as follows: first, the key technology and the research status of the four rotor aircraft are described in detail, the system composition and flight principle of the aircraft are analyzed, and the nonlinearity and strength of the four rotor aerocraft are strong. With the characteristics of coupling, multivariable and underactuated, the dynamic model of the four rotor aircraft is established in connection with the motion state of the aircraft approaching hovering in flight. Secondly, the trajectory tracking system of the four rotor aircraft is programmed, the trajectory tracking experimental platform is built, and the three-dimensional motion capture system based on the vision based indoor space is used. In view of the position feedback of the aircraft, the attitude of the four rotor aircraft is calculated by the Calman filtering algorithm, and the attitude adjustment and position control of the four rotor aircraft are realized with two controllers of PID and fuzzy PID respectively. The experimental results show that the four rotor aircrafts can be stationary according to the predetermined trajectory. Flight, fuzzy PID controller has higher control precision. Finally, on the basis of track tracking, the motion target tracking system of four rotor aircraft is designed. A system experiment platform is built. The experimental platform is composed of ground control center, four rotor aircraft, ground mobile robot and indoor space 3D motion capture system. In order to realize the tracking of the ground mobile robot by the four rotor aircraft under the unknown ground mobile robot trajectory, the experimental results further show that the fuzzy PID controller has better control characteristics.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V249;TP391.41
[Abstract]:Four rotor aerocraft has been widely used in military, industrial production and life because of its advantages of vertical landing and landing, autonomous hovering and flexible control. With the continuous expansion of the application field, the control precision is more and more high, especially in the small indoor environment, the control precision often determines its application. In this paper, the attitude calculation, track tracking and moving target tracking of the four rotor aircraft are studied. The main work is as follows: first, the key technology and the research status of the four rotor aircraft are described in detail, the system composition and flight principle of the aircraft are analyzed, and the nonlinearity and strength of the four rotor aerocraft are strong. With the characteristics of coupling, multivariable and underactuated, the dynamic model of the four rotor aircraft is established in connection with the motion state of the aircraft approaching hovering in flight. Secondly, the trajectory tracking system of the four rotor aircraft is programmed, the trajectory tracking experimental platform is built, and the three-dimensional motion capture system based on the vision based indoor space is used. In view of the position feedback of the aircraft, the attitude of the four rotor aircraft is calculated by the Calman filtering algorithm, and the attitude adjustment and position control of the four rotor aircraft are realized with two controllers of PID and fuzzy PID respectively. The experimental results show that the four rotor aircrafts can be stationary according to the predetermined trajectory. Flight, fuzzy PID controller has higher control precision. Finally, on the basis of track tracking, the motion target tracking system of four rotor aircraft is designed. A system experiment platform is built. The experimental platform is composed of ground control center, four rotor aircraft, ground mobile robot and indoor space 3D motion capture system. In order to realize the tracking of the ground mobile robot by the four rotor aircraft under the unknown ground mobile robot trajectory, the experimental results further show that the fuzzy PID controller has better control characteristics.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V249;TP391.41
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