本文選題：四旋翼飛行器　切入點：非線性模型　出處：《東南大學》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。相對于單旋翼飛行器,它具有結構簡單、飛行速度快等優(yōu)點,可廣泛用于低空巡邏、軍事偵查、航空攝影、氣象勘測等方面,具有重大的使用價值和廣闊的發(fā)展前景。本文在簡述四旋翼飛行器的發(fā)展現狀、研究熱點和控制算法的基礎上,以飛行器的控制器算法為研究主題,重點研究了四旋翼飛行器的動力學模型,并針對四旋翼飛行器的姿態(tài)控制、位置控制和速度控制設計了對應的控制算法,并通過仿真實驗,驗證了設計的控制算法的正確性和有效性。首先,針對四旋翼飛行器的機械機構、控制和飛行任務三個方面的要求,設計了合理的機身架構和硬件系統(tǒng)。在機身架構方面,完成了機體材料的選取和機身結構的設計；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、無線通信模塊、電源模塊的設計。最后給出了機載軟件的總體設計流程圖。其次,介紹了導航常用的坐標系以及坐標變換,分析了飛行器姿態(tài)角的含義。在此基礎之上對飛行器進行數學建模,根據其機體結構特征以及動力學特性并依據牛頓-歐拉方程推導出了四旋翼飛行器的非線性動力學方程,為控制器的設計奠定了基礎。隨后,分析得到的四旋翼飛行器的非線性動力學方程,根據系統(tǒng)狀態(tài)變量之間的耦合關系將四旋翼飛行器模型劃分為了三個控制子系統(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上述的三個子系統(tǒng)設計了相應的控制器。最后,對上述基于兩種控制理論設計出來的控制器分別進行了仿真實驗,實驗結果表明所設計的基于Backstepping以及H∞回路成形方法設計的控制器具有良好的控制效果。然后,比較兩種方法的實驗仿真結果并分析總結兩種方法的優(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：1708427