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文章研究了一种基于滑模控制的四旋翼飞行器高度控制技术。建立了四旋翼飞行器的动力学模型,分析了地效对飞行器高度控制的影响。根据滑模控制理论,针对地效的干扰设计了四旋翼飞行器高度控制律。通过数字仿真验证了该控制律可以有效的抵消地效对高度控制的影响,并和线性PID控制方法进行比较,验证了该方法的优越性。
In this paper, a sliding mode control based on the four-rotor aircraft altitude control technology. The dynamic model of quadrotor was established and the effect of ground effect on altitude control was analyzed. According to the sliding mode control theory, the height control law of quadrotor is designed for the disturbance of ground effect. The numerical simulation verifies that the control law can effectively counteract the effect of the ground effect on the height control. Compared with the linear PID control method, the control law proves the superiority of the method.