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分析推导小型四旋翼飞行器的数学模型,选取合适的输入输出量以及状态量,运用matlab工具对飞行器在悬停点进行配平和线性化,从而得到输出对输入的传递函数,实现控制模型的简化。针对线性化后的飞行器模型传递函数,进行稳定性分析。结合经典控制理论对每一个通道进行校正,设计了串级PID控制器,并搭建matlab/simulink仿真环境对设计好的控制器进行仿真分析,完善所设计的串级PID控制器的参数。
The mathematic model of small quadrotor was analyzed and derived. The appropriate input and output variables and state quantities were selected. The matlab tool was used to balance and linearize the hovering points of the aircraft. Thus, the transfer function of output to input was obtained and the control model was simplified. Aiming at the linearized model transfer function of aircraft, the stability analysis is carried out. Based on classical control theory, each channel is calibrated, cascaded PID controller is designed, and the matlab / simulink simulation environment is set up to simulate the designed controller and improve the parameters of cascaded PID controller.