四旋翼飞行器姿态的非线性控制仿真研究 |
点此下载全文 |
引用本文:张 帅 1,2 ,王志萍 1 ,夏 飞 1,2,3.四旋翼飞行器姿态的非线性控制仿真研究[J].计算技术与自动化,2017,(3):1-5 |
摘要点击次数: 1050 |
全文下载次数: 0 |
|
|
中文摘要:针对目前国内四旋翼飞行器在电力巡检中的广泛应用,对四旋翼飞行器的姿态控制提出更高的要求.由于四旋翼飞行器存在着非线性、多变量耦合的内部不匹配干扰和风力等的外部干扰,设计了非线性干扰观测器来逼近这些干扰形成反馈补偿,从而抵消各种干扰,主回路采用PID控制器。计算机搭建Matlab仿真模型验证控制器的控制效果,编写三维轨迹和姿态角的GUI监测界面,Simulink仿真结果表明:该非线性干扰观测器能有效抵消干扰。 |
中文关键词:四旋翼飞行器 非线性干扰观测器 反馈补偿 多变量耦合 |
|
Research on Nonlinear Control Simulation of Quad-rotor Attitude |
|
|
Abstract:In view that the quad-rotor of power line inspection has been well established in civil,which put forward higher requirements for the attitude control of quad-rotor .Due to the existence of nonlinear,multi-variable coupled of internal mismatch and wind of external disturbances,the nonlinear disturbance observer (NDOB) is designed to approach these disturbances to form a feedback compensation,which can counteract the interference,and meanwhile,main control loop adopts PID.Building Matlab simulation model to verify the control effect of the nonlinear controller,and programing GUI monitoring interface on three-dimensional trace and attitude angle of quad-rotor on computer.Simulink simulation results show that:The nonlinear disturbance observer can effectively offset the interference. |
keywords:quad-rotor nonlinear disturbance observer feedback compensation multi-variable coupled |
查看全文 查看/发表评论 下载pdf阅读器 |