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为提高四旋翼无人机的飞行稳定性、无人飞行器控制系统的鲁棒性和控制精度,以建立的四旋翼无人机飞行控制系统模型为基础,采用现代控制理论与传统控制论相结合的方法,针对姿态角速率、姿态角分别设计内环LQR(线性二次型调节器)控制器,及外环PID控制的双回路闭环控制器。充分利用PID控制器易于掌握且对模型要求精度低、LQR控制器能改善内回路的动态特性和稳态性能的特点,完成四旋翼无人机的飞行控制。通过实验遴选该双闭环控制器相关参数并进行优化,实验结果表明所设计的双回路控制器控制性能指标良好。
In order to improve the flight stability of the four-rotor UAV and the robustness and control accuracy of the UAV control system, based on the model of the four-rotor UAV flight control system, the modern control theory is combined with the traditional control theory , The inner loop LQR (linear quadratic regulator) controller and the outer loop PID control double loop closed-loop controller are respectively designed for attitude angular velocity and attitude angle. Take full advantage of the PID controller is easy to grasp and the model requires low accuracy, LQR controller can improve the dynamic characteristics of the inner loop and steady-state performance characteristics, complete quadrotor UAV flight control. The parameters of the double closed-loop controller are selected experimentally and optimized. The experimental results show that the designed dual-loop controller has good control performance.