【摘要】：四旋翼飛行器由于具有垂直起降、自主懸停和控制靈活等優(yōu)點(diǎn),越來(lái)越廣泛地被應(yīng)用到軍事、工業(yè)生產(chǎn)和生活中。隨著應(yīng)用領(lǐng)域的不斷擴(kuò)展,對(duì)其控制精度提出了越來(lái)越高的要求,尤其是在室內(nèi)狹小的環(huán)境內(nèi),控制精度往往決定著其應(yīng)用的價(jià)值。本文對(duì)四旋翼飛行器的姿態(tài)解算、軌跡跟蹤及運(yùn)動(dòng)目標(biāo)跟蹤進(jìn)行相關(guān)研究。主要工作如下:首先,對(duì)四旋翼飛行器的關(guān)鍵技術(shù)及國(guó)內(nèi)外研究現(xiàn)狀進(jìn)行了詳細(xì)闡述,分析了飛行器的系統(tǒng)組成和飛行原理,針對(duì)四旋翼飛行器非線性、強(qiáng)耦合、多變量和欠驅(qū)動(dòng)的特點(diǎn),結(jié)合飛行器飛行時(shí)接近懸停的運(yùn)動(dòng)狀態(tài),建立了四旋翼飛行器的動(dòng)力學(xué)模型。其次,對(duì)四旋翼飛行器軌跡跟蹤系統(tǒng)進(jìn)行了程序設(shè)計(jì),搭建了軌跡跟蹤實(shí)驗(yàn)平臺(tái),采用基于視覺的室內(nèi)空間三維運(yùn)動(dòng)捕捉系統(tǒng)對(duì)飛行器進(jìn)行位置反饋,針對(duì)四旋翼飛行器姿態(tài)解算問(wèn)題,采用卡爾曼濾波算法對(duì)飛行器進(jìn)行姿態(tài)解算,并分別采用PID和模糊PID兩種控制器實(shí)現(xiàn)了對(duì)四旋翼飛行器的姿態(tài)調(diào)整和位置控制,實(shí)驗(yàn)結(jié)果表明四旋翼飛行器能按預(yù)定的軌跡平穩(wěn)飛行,模糊PID控制器有更高的控制精度。最后,在軌跡跟蹤的基礎(chǔ)上,設(shè)計(jì)了四旋翼飛行器運(yùn)動(dòng)目標(biāo)跟蹤系統(tǒng)。搭建了系統(tǒng)實(shí)驗(yàn)平臺(tái),該實(shí)驗(yàn)平臺(tái)由地面控制中心、四旋翼飛行器、地面移動(dòng)機(jī)器人和室內(nèi)空間三維運(yùn)動(dòng)捕捉系統(tǒng)組成。設(shè)計(jì)程序?qū)崿F(xiàn)了在未知地面移動(dòng)機(jī)器人軌跡的情況下四旋翼飛行器對(duì)地面移動(dòng)機(jī)器人的跟蹤,實(shí)驗(yàn)結(jié)果進(jìn)一步表明模糊PID控制器具備更好的控制特性。
[Abstract]:Four rotor aerocraft has been widely used in military, industrial production and life because of its advantages of vertical landing and landing, autonomous hovering and flexible control. With the continuous expansion of the application field, the control precision is more and more high, especially in the small indoor environment, the control precision often determines its application. In this paper, the attitude calculation, track tracking and moving target tracking of the four rotor aircraft are studied. The main work is as follows: first, the key technology and the research status of the four rotor aircraft are described in detail, the system composition and flight principle of the aircraft are analyzed, and the nonlinearity and strength of the four rotor aerocraft are strong. With the characteristics of coupling, multivariable and underactuated, the dynamic model of the four rotor aircraft is established in connection with the motion state of the aircraft approaching hovering in flight. Secondly, the trajectory tracking system of the four rotor aircraft is programmed, the trajectory tracking experimental platform is built, and the three-dimensional motion capture system based on the vision based indoor space is used. In view of the position feedback of the aircraft, the attitude of the four rotor aircraft is calculated by the Calman filtering algorithm, and the attitude adjustment and position control of the four rotor aircraft are realized with two controllers of PID and fuzzy PID respectively. The experimental results show that the four rotor aircrafts can be stationary according to the predetermined trajectory. Flight, fuzzy PID controller has higher control precision. Finally, on the basis of track tracking, the motion target tracking system of four rotor aircraft is designed. A system experiment platform is built. The experimental platform is composed of ground control center, four rotor aircraft, ground mobile robot and indoor space 3D motion capture system. In order to realize the tracking of the ground mobile robot by the four rotor aircraft under the unknown ground mobile robot trajectory, the experimental results further show that the fuzzy PID controller has better control characteristics.
【學(xué)位授予單位】：燕山大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：V249;TP391.41

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本文編號(hào)：2123855