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针对四旋翼飞行器高度控制这一重要课题,建立一般的高度耦合的非线性动力学模型。通过近似线性化方法得到解耦后的线性化模型,基于该模型分别采用PID、极点配置和线性二次型最优法三种方法设计飞行器高度控制算法,实现了飞行器快速、稳定达到期望高度。通过仿真和实验进一步验证了各个算法的有效性。
Aiming at the important issue of height control of quadcopter, a general highly coupled non-linear dynamic model is established. The decoupled linearization model is obtained by the approximate linearization method. Based on the model, three methods of PID, pole assignment and linear quadratic optimization are respectively used to design the aircraft altitude control algorithm. The aircraft achieves the desired altitude quickly and stably. The validity of each algorithm is further verified by simulation and experiment.