四旋翼飞行姿态测试平台设计及稳定性分析
投稿时间:2017-12-13  修订日期:2017-12-27  点此下载全文
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作者单位邮编
高佳佳 西安工业大学 710021
曹凯* 西安工业大学 710021
基金项目:陕西省工业科技攻关项目(2016GY-032);西安工业大学校长基金(No.16JF013)
中文摘要:四旋翼飞行器非线性、强耦合以及欠驱动的特性极大地增加了算法设计与姿态控制的难度。为了减少四旋翼飞行器飞行过程中不必要的干扰因素和事故率,自主设计了四旋翼飞行姿态测试平台。通过对系统进行受力分析和动态建模,采用能够快速稳定的双闭环串级PID控制算法设计了姿态控制器,并使用卡尔曼滤波算法进行姿态估计,然后分别在Matlab环境和平台上验证了飞行姿态的稳定性。实验结果表明了平台设计的合理性和可行性,是一种有效的四旋翼飞行姿态测试平台。
中文关键词:四旋翼飞行器  测试平台  姿态控制  双闭环串级PID控制  卡尔曼滤波
 
Design of Quadrotor Flight Attitude Test Platform and Stability Analysis
Abstract:The quadrotor aircraft has the characteristics of nonlinearity, strong coupling and underactivity, which greatly increase the difficulty of algorithm design and the attitude control. In order to reduce the non-essential disturbance factors and accident rate during the flight of the aircraft, and independently designing a test platform to test quadrotor flight attitude. Through the force analysis and dynamic modeling of the system, the attitude controller is designed by a double closed-loop cascaded PID control algorithm which can stabilize quickly, and the attitude is estimated using Kalman filter algorithm. The stability of flight attitude is verified respectively on Matlab environment and the platform. The experimental results show that the platform design is reasonable and feasible, and it is an effective test platform.
keywords:quadrotor aircraft  test platform  attitude control  double closed-loop cascade PID control  Kalman filter
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