基于多模型自适应控制的四旋翼飞行器的姿态控制研究
发布时间：2018-11-09 16:33
【摘要】：四旋翼飞行器作为无人机家族中的一类特殊飞行器,以其低成本、小尺寸、结构简单以及机动性强的特点,多用于监视侦察、紧急救援、空中航拍、大气监测等用途。正是四旋翼飞行器在军事、民用领域的巨大应用前景,使其在全世界范围内形成了研究热潮,而控制系统的研究则是四旋翼飞行器研究中的核心。四旋翼飞行器是一个多变量、欠驱动、强耦合的非线性系统,这无疑给其控制方法的研究增加了难度。本文主要以四旋翼飞行器作为研究对象,考虑在室内低速或悬停情况下的小姿态角控制,提出利用多模型自适应控制的方法实现其控制系统的设计,控制的目的是:在较短的时间内控制机体姿态达到稳定,而最终的位置较初始位置不变或者变化不大。在分析了四旋翼飞行器的基本原理后,对其进行了动力学建模。此外,本文还介绍了多模型自适应控制的基本理论。在姿态控制方法中,先是利用传统PID进行分通道控制,然后利用本文建立的基于LQR的多模型自适应控制,以及基于鲁棒∞的多模型自适应控制对四旋翼飞行器进行控制:首先,分析了四旋翼飞行器的非线性模型,建立了三姿态角和高度通道控制模型,并利用经典PID实现控制,并仿真。其次,建立基于LQR的多模型自适应控制。首先,通过在合适的特征工作点处对该模型进行线性化,建立了9个线性子系统模型。其次,利用线性二次型调节器(LQR)的原理为每个子模型设计控制器,并建立了在控制过程中各子系统的切换规则。此外,利用Simulink对所设计的控制系统搭建了仿真模型,通过与PID控制相对比,验证了所设计的控制系统的响应速度较快,且超调较小。最后,考虑在实际中四旋翼飞行器受到环境风的干扰,利用鲁棒∞控制方法替换LQR的方法作为各个子模型的控制器设计方法,并利用线性矩阵不等式(LMI)的方法求解鲁棒∞状态反馈增益矩阵。通过Matlab/Simulink仿真,验证了所设计的基于∞控制的多模型自适应控制系统,对外部干扰具有良好的响应特性与鲁棒性。
[Abstract]:As a special type of unmanned aerial vehicle (UAV), four-rotor aircraft is widely used in surveillance and reconnaissance, emergency rescue, aerial photography, atmospheric monitoring and so on, because of its low cost, small size, simple structure and strong maneuverability. It is the huge application prospect of four-rotor aircraft in military and civil fields that makes it become a research upsurge all over the world, and the research of control system is the core of the research on four-rotor aircraft. Four-rotor aircraft is a multi-variable, underactuated and strongly coupled nonlinear system, which undoubtedly makes the study of its control method more difficult. In this paper, the four-rotor aircraft is taken as the research object, considering the small attitude angle control in the case of indoor low speed or hovering, a multi-model adaptive control method is proposed to realize the design of its control system. The purpose of the control is to control the airframe attitude to be stable in a short period of time, but the final position is invariable or little changed compared with the initial position. After analyzing the basic principle of the four-rotor aircraft, the dynamic modeling is carried out. In addition, the basic theory of multi-model adaptive control is introduced. In the attitude control method, firstly, the traditional PID is used to separate the channel control, then the multi-model adaptive control based on LQR and the robust 鈭，
本文编号：2320963
[Abstract]:As a special type of unmanned aerial vehicle (UAV), four-rotor aircraft is widely used in surveillance and reconnaissance, emergency rescue, aerial photography, atmospheric monitoring and so on, because of its low cost, small size, simple structure and strong maneuverability. It is the huge application prospect of four-rotor aircraft in military and civil fields that makes it become a research upsurge all over the world, and the research of control system is the core of the research on four-rotor aircraft. Four-rotor aircraft is a multi-variable, underactuated and strongly coupled nonlinear system, which undoubtedly makes the study of its control method more difficult. In this paper, the four-rotor aircraft is taken as the research object, considering the small attitude angle control in the case of indoor low speed or hovering, a multi-model adaptive control method is proposed to realize the design of its control system. The purpose of the control is to control the airframe attitude to be stable in a short period of time, but the final position is invariable or little changed compared with the initial position. After analyzing the basic principle of the four-rotor aircraft, the dynamic modeling is carried out. In addition, the basic theory of multi-model adaptive control is introduced. In the attitude control method, firstly, the traditional PID is used to separate the channel control, then the multi-model adaptive control based on LQR and the robust 鈭，
本文编号：2320963
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