四旋翼飞行器姿态的非线性控制仿真研究
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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
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作者单位
张 帅 1,2 ,王志萍 1 ,夏 飞 1,2,3 (1.上海电力学院 自动化工程学院,上海 2000902.上海发电过程智能管控工程技术研究中心,上海 200090
3.同济大学 CMIS中心
,上海 200092) 
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
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