飞行器自主控制技术研究

摘要

随着自动控制技术和智能决策技术的不断发展，无人机凭借其低成本，零伤亡，可重复使用和高机动等优点，成为了当代战争的重要作战工具之一，有着不可替代的作用。旋翼式飞行器作为一种无人机，其起飞和降落所需空间较少，在障碍物密集环境下的操控性较高，以及飞行器姿态保持能力较强的优点，在民用和军事领域都有广泛的应用前景。尤其是近年来对四旋翼飞行器的研究成果较多，融合了自动控制、传感以及计算机科学等诸多技术，成为了未来无人机的主要发展趋势，并成为目前重点的研究对象。

由于四旋翼飞行器具有体积小、重量轻、功耗低、具有多变量、非线性、强耦合、欠驱动等特性，其控制问题一直是该领域的研究重点。本论文的主要工作如下：

1）本文首先对小型四旋翼飞行器的国内外研究现状进行了简单的介绍；介绍四旋翼无人飞行器涉及的关键技术，设计了四旋翼无人飞行器整体结构，包括四旋翼无人飞行器的机械结构、控制系统硬件，搭建四旋翼无人飞行器研究平台。

2）对四旋翼无人飞行器进行力学分析，以小型四旋翼飞行器为实际对象，对四旋翼的建模和控制方法做了研究。根据对四旋翼飞行器的机架结构和动力学特性做详尽的分析和研究，在此基础上建立四旋翼飞行器的动力学模型，四旋翼飞行器有各种的运行状态，并对飞行器进行力学分析。

3）通过选取四旋翼无人飞行器在运动过程中的受力分析，完成对其动力学模型的建立，通过对传递函数做适当简化得到了系统仿真模型。进一步推出四旋翼无人飞行器在旋转运动和直线运动上的传递函数，针对现有四旋翼无人飞行器结构，建立机体坐标系，为四旋翼无人飞行器的飞行控制器的设计提供了可靠的控制模型。

4）通过Matlab中的Simulink模块，分别对姿态回路PI控制算法、姿态和位置回路的PID控制算法和积分分离PID控制算法进行了仿真，通过对PID飞行控制算法进行Matlab仿真可知，四旋翼无人飞行器在PI、PID、积分分离PID 控制算法下是可控的。

通过仿真观察到飞行器能够基本达到稳定飞行的目的，不过在在实际检测系统中还是容易受到干扰，所以还是需要必要的控制。再验证了控制算法的有效性，

并提出改进意见和方法。

关键词：四旋翼无人飞行器，动力学模型，PID控制

ABSTRACT

Since the UA V low cost, zero casualties , reusable and high mobility , etc., and therefore plays an irreplaceable role in the current war, widely welcomed by the military around the world in recent years has been rapid development . Self-control as the future development trend of unmanned aerial vehicles , has become the military departments, research institutes, research focus , Rotary-wing aircraft take-off and landing because of less space -intensive environments in the obstacle handling higher ability to maintain a strong and spacecraft attitude advantages in civil and military fields have a wide range of applications required . Among them, four rotorcraft research in recent years has matured and is automatically controlled fusion research , advanced sensor technology and computer science , and many other technical fields provides a platform .

As the four- rotor aircraft with a small size, light weight, low power consumption, multivariable , nonlinear, strong coupling , due to the driver and other features, its control has been the focus of research in this field . The main work of this paper is as follows :

Firstly, the research status of small four- rotor aircraft conducted a brief introduction ; introduces the key technologies involved in the four-rotor UA V , designed the four-rotor UA V whole structure , including the mechanical structure of the four- rotor UA V control system hardware , building four-rotor UA V research platform.

Four-rotor UA V for mechanical analysis , with small four- rotor aircraft for the actual object , modeling and control methods to do a four-rotor research . According to the frame structure and the dynamics of the four rotor aircraft to do a detailed analysis and research , kinetic model of four- rotor aircraft on this basis , there are a variety of four- rotor aircraft operational status , and aircraft mechanics analysis .

By selecting four-rotor UA V force analysis process in motion to complete the establishment of its dynamic model , through the transfer function has been simplified to make the appropriate system simulation model . Further introduced four-rotor UA V in the rotation and linear motion of the transfer function for an existing four-rotor