本文選題：四旋翼 + 倒立擺��； 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：四旋翼倒立擺控制系統(tǒng)作為結(jié)合了空間一級倒立擺系統(tǒng)和四旋翼無人機(jī)的新型控制器實(shí)驗(yàn)平臺,既保留了倒立擺非線性、強(qiáng)耦合、多變量、高階次的特點(diǎn),又引入了四旋翼的模型不確定性,更符合當(dāng)前復(fù)雜實(shí)際系統(tǒng)的控制方法驗(yàn)證需求。四旋翼倒立擺控制系統(tǒng)的實(shí)現(xiàn)涉及軟硬件實(shí)現(xiàn),控制算法設(shè)計(jì)等方面,在已有研究中實(shí)現(xiàn)該系統(tǒng)的只有兩例,其實(shí)現(xiàn)難度遠(yuǎn)非傳統(tǒng)空間一級倒立擺可比,為了后續(xù)相關(guān)控制算法的研究,本文設(shè)計(jì)了四旋翼倒立擺實(shí)驗(yàn)系統(tǒng),并實(shí)現(xiàn)了實(shí)物系統(tǒng)的穩(wěn)定控制。本論文主要研究工作可以歸納為以下幾個方面:(1)設(shè)計(jì)了一套完善的四旋翼倒立擺實(shí)驗(yàn)平臺。根據(jù)實(shí)驗(yàn)需求,進(jìn)行了軟硬件方案的總體設(shè)計(jì),完成了由四旋翼飛行器,控制計(jì)算機(jī),室內(nèi)光學(xué)運(yùn)動捕捉系統(tǒng)構(gòu)成的四旋翼倒立擺實(shí)驗(yàn)平臺的硬件搭建,并在此基礎(chǔ)上完成了軟件功能的設(shè)計(jì)與實(shí)現(xiàn),并進(jìn)行了充分的功能測試與驗(yàn)證。(2)建立了四旋翼倒立擺控制系統(tǒng)仿真模型,并對系統(tǒng)關(guān)鍵問題進(jìn)行分析。根據(jù)空間一級倒立擺模型和四旋翼無人機(jī)模型建立了四旋翼倒立擺系統(tǒng)的模型,并在平衡點(diǎn)附近對系統(tǒng)模型進(jìn)行了線性化處理,根據(jù)模型分析了四旋翼倒立擺系統(tǒng)中普遍存在的支點(diǎn)偏離重心和四旋翼飛控系統(tǒng)姿態(tài)測量偏差的問題。(3)設(shè)計(jì)了基于PID控制器的四旋翼倒立擺系統(tǒng)各回路閉環(huán)控制方法及控制回路結(jié)構(gòu)。根據(jù)四旋翼飛控系統(tǒng)姿態(tài)控制回路控制器結(jié)構(gòu)和系統(tǒng)模型,設(shè)計(jì)了姿態(tài)回路參數(shù)整定方法。采用串級PID控制器,實(shí)現(xiàn)了四旋翼的位置控制。設(shè)計(jì)了基于改進(jìn)PID控制器的四旋翼倒立擺系統(tǒng)多回路控制方法,實(shí)現(xiàn)了對四旋翼倒立擺系統(tǒng)擺桿位置和四旋翼位置的雙重控制。通過仿真驗(yàn)證了方法的可行性和有效性,為四旋翼倒立擺實(shí)驗(yàn)提供理論指導(dǎo)。(4)測試了實(shí)驗(yàn)平臺的基本功能并實(shí)現(xiàn)了四旋翼倒立擺實(shí)物系統(tǒng)穩(wěn)定控制。實(shí)驗(yàn)結(jié)果表明,采用改進(jìn)PID控制器的多回路控制方法滿足四旋翼倒立擺系統(tǒng)控制需求,并具有一定的魯棒性和抗干擾能力。本論文的研究雖然采用較為簡單的PID控制器,但充分驗(yàn)證了文中系統(tǒng)設(shè)計(jì)是合理的,可行的,為后續(xù)的控制方法研究提供了實(shí)驗(yàn)平臺和理論參考,對于四旋翼倒立擺系統(tǒng)的深入研究具有深遠(yuǎn)的意義。同時本文中所搭建的實(shí)驗(yàn)平臺具有很強(qiáng)的拓展性,可以應(yīng)用于四旋翼無人機(jī)其他方面的研究之中,是良好的四旋翼系統(tǒng)實(shí)驗(yàn)平臺。
[Abstract]:The four rotor inverted pendulum control system is a new controller experimental platform which combines the space first inverted pendulum system with the four rotors UAV. It not only retains the characteristics of the inverted pendulum nonlinearity, strong coupling, multivariable and high order. The uncertainty of the four rotor model is also introduced, which is more suitable for the verification of the control method of the complex real system. The realization of the four-rotor inverted pendulum control system involves the realization of hardware and software, the design of control algorithm, and so on. Only two examples have been studied to realize the system, which is far more difficult to realize than the traditional one-stage inverted pendulum. In order to study the related control algorithm, a four-rotor inverted pendulum experimental system is designed and the stability control of the physical system is realized. The main research work of this paper can be summarized as follows: 1) designed a set of perfect four rotor inverted pendulum experimental platform. According to the requirements of the experiment, the overall design of the hardware and software scheme is carried out, and the hardware of the four-rotor inverted pendulum experiment platform, which is composed of a four-rotor aircraft, a control computer and an indoor optical motion capture system, is completed. On this basis, the design and implementation of the software function are completed, and the full function test and verification are carried out. The simulation model of the four-rotor inverted pendulum control system is established, and the key problems of the system are analyzed. According to the space inverted pendulum model and the four rotor UAV model, the four rotor inverted pendulum system model is established, and the system model is linearized near the equilibrium point. Based on the model, the common problems of pivot deviation from center of gravity and attitude measurement deviation of four-rotor flight control system in four-rotor inverted pendulum system are analyzed. The closed-loop control of four-rotor inverted pendulum system based on PID controller is designed. Method and control loop structure. According to the structure of attitude control loop controller and system model of four rotor flight control system, a method of attitude loop parameter setting is designed. The position control of four rotor is realized by using cascade PID controller. The multi-loop control method of four-rotor inverted pendulum system based on improved PID controller is designed. The double control of pendulum position and four-rotor position of four-rotor inverted pendulum system is realized. The feasibility and effectiveness of the method are verified by simulation. It provides theoretical guidance for the four-rotor inverted pendulum experiment. It tests the basic functions of the experimental platform and realizes the stability control of the four-rotor inverted pendulum system. The experimental results show that the multi-loop control method based on the improved PID controller can meet the control requirements of the four-rotor inverted pendulum system and has a certain robustness and anti-interference ability. Although simple PID controller is used in this paper, the system design is reasonable and feasible, which provides an experimental platform and theoretical reference for the subsequent research of control methods. It is of great significance to study the four-rotor inverted pendulum system. At the same time, the experimental platform built in this paper has strong expansibility and can be applied to other aspects of the research of four-rotor UAV. It is a good experimental platform for four-rotor system.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP273

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本文編號：1941709