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四旋翼无人飞行器在军事及民用领域都有很重要的应用,但目前主要是以遥控控制为主,其自主飞行能力较弱,因此提出了一种针对四旋翼飞行器的自主控制架构,它可根据设置好的飞行轨迹进行自主巡航飞行。该自主飞行架构主要分为两部分,分别为导航控制系统和姿态控制系统。导航控制系统根据航线信息解算系统控制姿态角及飞行速度,并把解算结果交给姿态控制系统,由姿态控制系统完成实际飞行器姿态的控制。通过航线自主飞行仿真对该方法的可行性进行了验证。结果表明,该自主控制架构明晰,易于实际控制系统的实现,具有实际应用价值。
Quadrotor UAVs have very important applications in the military and civil fields. However, mainly based on remote control, their autonomous flight capability is weak. Therefore, an autonomous control architecture for quadrotors is proposed, Autonomous cruise flight according to the set flight path. The autonomous flight architecture is mainly divided into two parts, namely navigation control system and attitude control system. The navigation control system solves the system control attitude angle and flight speed according to the route information, and gives the solution to the attitude control system. The attitude control system realizes the control of the actual attitude of the aircraft. The feasibility of this method is verified by flight route autopilot simulation. The results show that this autonomous control system has a clear structure and is easy to realize the actual control system, which has practical application value.