【摘要】：四旋翼飛行器作為無人機(jī)家族中的一類特殊飛行器,以其低成本、小尺寸、結(jié)構(gòu)簡單以及機(jī)動(dòng)性強(qiáng)的特點(diǎn),多用于監(jiān)視偵察、緊急救援、空中航拍、大氣監(jiān)測(cè)等用途。正是四旋翼飛行器在軍事、民用領(lǐng)域的巨大應(yīng)用前景,使其在全世界范圍內(nèi)形成了研究熱潮,而控制系統(tǒng)的研究則是四旋翼飛行器研究中的核心。四旋翼飛行器是一個(gè)多變量、欠驅(qū)動(dòng)、強(qiáng)耦合的非線性系統(tǒng),這無疑給其控制方法的研究增加了難度。本文主要以四旋翼飛行器作為研究對(duì)象,考慮在室內(nèi)低速或懸停情況下的小姿態(tài)角控制,提出利用多模型自適應(yīng)控制的方法實(shí)現(xiàn)其控制系統(tǒng)的設(shè)計(jì),控制的目的是:在較短的時(shí)間內(nèi)控制機(jī)體姿態(tài)達(dá)到穩(wěn)定,而最終的位置較初始位置不變或者變化不大。在分析了四旋翼飛行器的基本原理后,對(duì)其進(jìn)行了動(dòng)力學(xué)建模。此外,本文還介紹了多模型自適應(yīng)控制的基本理論。在姿態(tài)控制方法中,先是利用傳統(tǒng)PID進(jìn)行分通道控制,然后利用本文建立的基于LQR的多模型自適應(yīng)控制,以及基于魯棒∞的多模型自適應(yīng)控制對(duì)四旋翼飛行器進(jìn)行控制:首先,分析了四旋翼飛行器的非線性模型,建立了三姿態(tài)角和高度通道控制模型,并利用經(jīng)典PID實(shí)現(xiàn)控制,并仿真。其次,建立基于LQR的多模型自適應(yīng)控制。首先,通過在合適的特征工作點(diǎn)處對(duì)該模型進(jìn)行線性化,建立了9個(gè)線性子系統(tǒng)模型。其次,利用線性二次型調(diào)節(jié)器(LQR)的原理為每個(gè)子模型設(shè)計(jì)控制器,并建立了在控制過程中各子系統(tǒng)的切換規(guī)則。此外,利用Simulink對(duì)所設(shè)計(jì)的控制系統(tǒng)搭建了仿真模型,通過與PID控制相對(duì)比,驗(yàn)證了所設(shè)計(jì)的控制系統(tǒng)的響應(yīng)速度較快,且超調(diào)較小。最后,考慮在實(shí)際中四旋翼飛行器受到環(huán)境風(fēng)的干擾,利用魯棒∞控制方法替換LQR的方法作為各個(gè)子模型的控制器設(shè)計(jì)方法,并利用線性矩陣不等式(LMI)的方法求解魯棒∞狀態(tài)反饋增益矩陣。通過Matlab/Simulink仿真,驗(yàn)證了所設(shè)計(jì)的基于∞控制的多模型自適應(yīng)控制系統(tǒng),對(duì)外部干擾具有良好的響應(yīng)特性與魯棒性。
[Abstract]:As a special type of unmanned aerial vehicle (UAV), four-rotor aircraft is widely used in surveillance and reconnaissance, emergency rescue, aerial photography, atmospheric monitoring and so on, because of its low cost, small size, simple structure and strong maneuverability. It is the huge application prospect of four-rotor aircraft in military and civil fields that makes it become a research upsurge all over the world, and the research of control system is the core of the research on four-rotor aircraft. Four-rotor aircraft is a multi-variable, underactuated and strongly coupled nonlinear system, which undoubtedly makes the study of its control method more difficult. In this paper, the four-rotor aircraft is taken as the research object, considering the small attitude angle control in the case of indoor low speed or hovering, a multi-model adaptive control method is proposed to realize the design of its control system. The purpose of the control is to control the airframe attitude to be stable in a short period of time, but the final position is invariable or little changed compared with the initial position. After analyzing the basic principle of the four-rotor aircraft, the dynamic modeling is carried out. In addition, the basic theory of multi-model adaptive control is introduced. In the attitude control method, firstly, the traditional PID is used to separate the channel control, then the multi-model adaptive control based on LQR and the robust 鈭，

本文編號(hào)：2320963