發(fā)布時(shí)間：2018-04-04 04:46

  本文選題：四旋翼飛行器　切入點(diǎn)：非線性模型　出處：《東南大學(xué)》2016年碩士論文

【摘要】：四旋翼飛行器是一種性能優(yōu)良的VTOL(垂直起降)飛行器。相對(duì)于單旋翼飛行器,它具有結(jié)構(gòu)簡(jiǎn)單、飛行速度快等優(yōu)點(diǎn),可廣泛用于低空巡邏、軍事偵查、航空攝影、氣象勘測(cè)等方面,具有重大的使用價(jià)值和廣闊的發(fā)展前景。本文在簡(jiǎn)述四旋翼飛行器的發(fā)展現(xiàn)狀、研究熱點(diǎn)和控制算法的基礎(chǔ)上,以飛行器的控制器算法為研究主題,重點(diǎn)研究了四旋翼飛行器的動(dòng)力學(xué)模型,并針對(duì)四旋翼飛行器的姿態(tài)控制、位置控制和速度控制設(shè)計(jì)了對(duì)應(yīng)的控制算法,并通過(guò)仿真實(shí)驗(yàn),驗(yàn)證了設(shè)計(jì)的控制算法的正確性和有效性。首先,針對(duì)四旋翼飛行器的機(jī)械機(jī)構(gòu)、控制和飛行任務(wù)三個(gè)方面的要求,設(shè)計(jì)了合理的機(jī)身架構(gòu)和硬件系統(tǒng)。在機(jī)身架構(gòu)方面,完成了機(jī)體材料的選取和機(jī)身結(jié)構(gòu)的設(shè)計(jì)；在硬件系統(tǒng)方面,采用模塊化的思想完成了控制器模塊、傳感器模塊、執(zhí)行器模塊、無(wú)線通信模塊、電源模塊的設(shè)計(jì)。最后給出了機(jī)載軟件的總體設(shè)計(jì)流程圖。其次,介紹了導(dǎo)航常用的坐標(biāo)系以及坐標(biāo)變換,分析了飛行器姿態(tài)角的含義。在此基礎(chǔ)之上對(duì)飛行器進(jìn)行數(shù)學(xué)建模,根據(jù)其機(jī)體結(jié)構(gòu)特征以及動(dòng)力學(xué)特性并依據(jù)牛頓-歐拉方程推導(dǎo)出了四旋翼飛行器的非線性動(dòng)力學(xué)方程,為控制器的設(shè)計(jì)奠定了基礎(chǔ)。隨后,分析得到的四旋翼飛行器的非線性動(dòng)力學(xué)方程,根據(jù)系統(tǒng)狀態(tài)變量之間的耦合關(guān)系將四旋翼飛行器模型劃分為了三個(gè)控制子系統(tǒng),分別為姿態(tài)控制器、速度控制器以及位置控制器。然后分別使用基于非線性控制理論的Backstepping方法以及基于線性控制理論的玩回路成形的方法針對(duì)上述的三個(gè)子系統(tǒng)設(shè)計(jì)了相應(yīng)的控制器。最后,對(duì)上述基于兩種控制理論設(shè)計(jì)出來(lái)的控制器分別進(jìn)行了仿真實(shí)驗(yàn),實(shí)驗(yàn)結(jié)果表明所設(shè)計(jì)的基于Backstepping以及H∞回路成形方法設(shè)計(jì)的控制器具有良好的控制效果。然后,比較兩種方法的實(shí)驗(yàn)仿真結(jié)果并分析總結(jié)兩種方法的優(yōu)劣之處。
[Abstract]:Four-rotor aircraft is a VTOL (vertical takeoff and landing) aircraft with excellent performance.Compared with single-rotor aircraft, it has the advantages of simple structure and fast flying speed. It can be widely used in low-altitude patrol, military reconnaissance, aerial photography, meteorological survey and so on. It has great application value and broad development prospect.In this paper, based on a brief introduction of the development status, research focus and control algorithm of the four-rotor aircraft, the dynamic model of the four-rotor aircraft is studied with the controller algorithm of the aircraft as the research topic.The corresponding control algorithms are designed for the attitude control, position control and speed control of the four-rotor aircraft, and the correctness and effectiveness of the proposed control algorithm are verified by simulation experiments.Firstly, a reasonable fuselage structure and hardware system are designed to meet the requirements of mechanical mechanism, control and mission.In the fuselage structure, the selection of the body material and the design of the fuselage structure are completed. In the hardware system, the controller module, the sensor module, the actuator module and the wireless communication module are completed by modularization.The design of power module.Finally, the overall design flow chart of airborne software is given.Secondly, the coordinate system and coordinate transformation in navigation are introduced, and the meaning of attitude angle of aircraft is analyzed.On this basis, the mathematical modeling of the aircraft is carried out, and the nonlinear dynamic equations of the four-rotor aircraft are derived according to the structural and dynamic characteristics of the aircraft and the Newton-Euler equation, which lays a foundation for the design of the controller.Then, the nonlinear dynamic equations of the four-rotor aircraft are analyzed. According to the coupling relationship between the system state variables, the model of the four-rotor aircraft is divided into three control subsystems, which are attitude controllers.Speed controller and position controller.Then the Backstepping method based on the nonlinear control theory and the play loop shaping method based on the linear control theory are used to design the corresponding controllers for the three subsystems mentioned above.Finally, the controller designed based on two kinds of control theory is simulated. The experimental results show that the controller designed based on Backstepping and H 鈭，

本文編號(hào)：1708427