机械科学与技术2012，Vol.31Issue(3)：359-362,4.
基于PD算法的四旋翼飞行器控制系统研究
Research on Quad-rotor Helicopter Control System Based on PD Algorithm
摘要
Abstract
The existing quad-rotor helicopter control systems have problems of weak robustness and low control precision,in this paper,PD（proportion-differentiation） control algorithm is proposed based on the existing models to improve the robustness.Firstly,a model for the quad-rotor helicopter is established and the principle of quad-rotor helicopter flight controlling is described.Then,quad-rotor helicopter control system is designed according to the principle of quad-rotor helicopter flight,the design of control system includes the design of hardware module and control codes.PD control algorithm is employed in helicopter attitude feedback control.Finally,the principle of quad-rotor helicopter flight and the performance of the control system based on PD algorithm are validated by experiments on ＂micro-shadow＂ I and ＂micro-shadow＂ II prototypes,the results show that the robustness of the quad-rotor helicopter control system based on PD algorithm is improved.关键词
四旋翼飞行器/飞行器控制/PD算法Key words
quad-rotor helicopter/helicopter control/PD algorithm分类
航空航天引用本文复制引用
侯永锋,陆连山,高尚德,刘雨生..基于PD算法的四旋翼飞行器控制系统研究[J].机械科学与技术,2012,31(3):359-362,4.基金项目
西北工业大学研究生创业种子基金项目资助 （）
