本文關(guān)鍵詞：四旋翼無人飛行器飛行控制方法研究　出處：《中國計量學(xué)院》2015年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 四旋翼無人飛行器 滑模控制 二階滑�？刂� 最優(yōu)卡爾曼濾波器

【摘要】：近年來,四旋翼無人飛行器應(yīng)用領(lǐng)域得到快速擴(kuò)展,尤其軍用和民用方面,被用于執(zhí)行各種任務(wù),而且,其商業(yè)化趨勢也正在凸顯。本課題主要研究了四旋翼無人飛行器的飛行控制方法,針對現(xiàn)有四旋翼無人飛行器飛行控制存在的問題,提出了不同的控制方法。四旋翼無人飛行器動力學(xué)數(shù)學(xué)模型具有欠驅(qū)動、強(qiáng)耦合、非線性特點,導(dǎo)致控制器設(shè)計難度加大。為了更好地實現(xiàn)四旋翼無人飛行器位置與姿態(tài)跟蹤控制,同時,縮短穩(wěn)定時間以及獲得確切的滑模切換面系數(shù),本文將模型分解為全驅(qū)動和欠驅(qū)動兩個子系統(tǒng)。主要研究內(nèi)容如下:(1)采用一種新型魯棒最終滑模控制設(shè)計全驅(qū)動子系統(tǒng)的控制器。該方法能夠保證狀態(tài)變量迅速收斂于它們的期望值,縮短穩(wěn)定時間,從而該子系統(tǒng)的狀態(tài)變量成為欠驅(qū)動子系統(tǒng)的時間常量,強(qiáng)耦合性問題得到改善;采用一種滑�？刂圃O(shè)計欠驅(qū)動子系統(tǒng)的控制器,該方法能夠保證狀態(tài)變量在有限時間內(nèi)收斂于它們的期望值,從而整體上實現(xiàn)四旋翼無人飛行器位置與姿態(tài)跟蹤控制。此外,仿真實驗驗證了該控制方法的有效性和魯棒性。(2)采用一種二階滑�？刂圃O(shè)計全驅(qū)動與欠驅(qū)動子系統(tǒng)的控制器�？紤]到,滑模切換面的系數(shù)是非線性的,但現(xiàn)有的大多數(shù)研究工作者進(jìn)行仿真實驗時,該系數(shù)直接被賦予具體數(shù)值,本文運用霍爾維茲穩(wěn)定條件,最終得到了確切的滑模切換面系數(shù)。接著,為了在控制輸入飽和條件下對四旋翼無人飛行器進(jìn)行有效地控制,本文采用了一種基于控制輸入飽和的二階滑�？刂品椒�。此外,仿真實驗也驗證了該兩種控制方法的有效性和魯棒性。(3)采用最優(yōu)卡爾曼濾波器算法對兩個子系統(tǒng)進(jìn)行狀態(tài)估計�？紤]到過程白噪聲和測量白噪聲存在的可能性,本文采用了外推法將動力學(xué)模型離散化和線性化處理后,利用最優(yōu)卡爾曼濾波器來估計狀態(tài)變量,仿真實驗證明該算法削弱了過程白噪聲和測量白噪聲的干擾。
[Abstract]:In recent years, the applications of four-rotor unmanned aerial vehicles (UAVs) have been rapidly expanded, especially in military and civilian areas, used for various missions, and. The commercial trend is also prominent. This paper mainly studies the flight control methods of four-rotor unmanned aerial vehicle (UAV), aiming at the existing problems of four-rotor UAV flight control. Different control methods are proposed. The dynamic mathematical model of four-rotor unmanned aerial vehicle (UAV) has the characteristics of underactuation, strong coupling and nonlinearity. In order to achieve better position and attitude tracking control of four-rotor unmanned aerial vehicle (UAV), the stabilization time is shortened and the exact coefficient of sliding mode switching surface is obtained. In this paper, the model is decomposed into two subsystems: full drive subsystem and underdriven subsystem. The main research contents are as follows: 1). A new robust ultimate sliding mode control is used to design the controller of the full drive subsystem. This method can ensure that the state variables converge rapidly to their expected values. The stability time is shortened, so that the state variable of the subsystem becomes the time constant of the underdriven subsystem, and the strong coupling problem is improved. A sliding mode control is used to design the controller of underactuated subsystem. This method can ensure that the state variables converge to their expected values in a finite time. Thus, the position and attitude tracking control of the four-rotor unmanned aerial vehicle is realized as a whole. Simulation results verify the effectiveness and robustness of the proposed control method. A second-order sliding mode control is used to design the full drive and underactuated subsystem controllers. The coefficients of the sliding mode switching surface are considered to be nonlinear. However, when most researchers do simulation experiments, the coefficients are directly assigned to specific values. In this paper, the exact coefficient of sliding mode switching surface is obtained by using Holwitz stability condition. In order to control the four-rotor unmanned aerial vehicle effectively under the condition of control input saturation, a second-order sliding mode control method based on control input saturation is used in this paper. Simulation results also verify the effectiveness and robustness of the two control methods. The optimal Kalman filter algorithm is used to estimate the state of the two subsystems, considering the possibility of the existence of process white noise and measurement white noise. In this paper, the dynamic model is discretized and linearized by extrapolation method, and the optimal Kalman filter is used to estimate the state variables. The simulation results show that the algorithm reduces the process white noise and the measurement white noise interference.
【學(xué)位授予單位】：中國計量學(xué)院
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V249.12

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