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针对四旋翼飞行系统的多变量、强耦合和带约束等复杂特性,提出了基于显式模型预测的控制方法。首先根据四旋翼飞行系统的动力学特点,建立了九状态空间模型,并解耦成2个子系统。然后,采用多参数二次规划法,离线计算了四旋翼飞行系统的显式最优控制律,在线查找当前状态对应的控制量。数值仿真和实验结果表明,该方法在满足约束条件同时,调节时间较短,超调量较小且具有一定的抗扰动能力,成功实现了四旋翼飞行器的姿态稳定控制。
Aiming at the complicated characteristics of quadrotor flight system such as multivariable, strong coupling and restraint, a control method based on explicit model prediction is proposed. First of all, according to the dynamics of quadrotor flight system, a nine-state space model is established and decoupled into two subsystems. Then, the multi-parameter quadratic programming method is used to calculate the explicit optimal control law of the quadrotor flight system offline and find out the control quantity corresponding to the current state online. The numerical simulation and experimental results show that the proposed method can achieve the attitude stability control of quadrotor successfully while satisfying the constraints, while the adjustment time is short, the overshoot is small and anti-disturbance capability is satisfied.