多旋翼飞行器建模与控制器设计
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TP13

基金项目:

河北省重点研发计划项目(19210404D);河北省重点研发计划项目(20351802D);河北省高等学校科学技术研究重点项目(ZD2019010);教育部产学合作协同育人项目(201801335014);教育部春晖计划项目( Z2017016) ;河北省研究生创新资助项目(CXZZSS2020031)。


Research on incident edge detection technology of sensor network for environment monitoring
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Key research and development project from Hebei Province, China(19210404D);Key research and development project from Hebei Province, China(20351802D);Key research project of science and technology from Ministry of Education of Hebei Province, China(ZD2019010);The Project of Industry-University Cooperative Education of Ministry of Education of China(201801335014);Chunhui Plan of Ministry of Education of China(Z2017016);Graduate Innovation Funding Project of Hebei Province(CXZZSS2020031)

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    摘要:

    随着各项技术的日趋成熟,多旋翼飞行器的控制器设计也愈发受到重视。为了使四旋翼飞行器在复杂环境下可以进行稳定的飞行,本文研究设计了四旋翼无人机飞行器的控制器,根据实际情况对数学模型进行简化,建立了一个四旋翼飞行器运动的数学模型;在Simulink中搭建PID控制模型,实现串级PID控制,通过调整PID参数,初步实现了使其稳定飞行的目标。通过在Simulink上搭建系统模型并最终得出仿真结果,证明飞行器的姿态和位置都得到了稳定的控制。

    Abstract:

    With the development of various technologies, more and more attention has been paid to the controller design of multi rotor aircraft. In order to make the quadrotor UAV can fly stably in complex environment, the controller of quadrotor UAV is studied and designed in this paper. According to the actual situation, the mathematical model is simplified and a mathematical model of four rotor aircraft is established. The PID control model is built in Simulink to realize the cascade PID control. By adjusting the PID parameters, the goal of stable flight is preliminarily achieved. By building the system model on Simulink and finally obtaining the simulation results, it is proved that the attitude and position of the aircraft are stably controlled.

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引用本文

杜明,赵燕飞,范书瑞,等. 多旋翼飞行器建模与控制器设计[J]. 科学技术与工程, 2021, 21(17): 7180-7186.
Du Ming, Zhao Yanfei, Fan Shurui, et al. Research on incident edge detection technology of sensor network for environment monitoring[J]. Science Technology and Engineering,2021,21(17):7180-7186.

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  • 收稿日期:2020-09-02
  • 最后修改日期:2021-05-31
  • 录用日期:2021-02-16
  • 在线发布日期: 2021-07-02
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