中北大学学报（自然科学版）Issue(2)：218-224,7.DOI:10.3969/j.issn.1673-3193.2014.02.025
四旋翼飞行器力学模型与控制系统设计
Design of Mechanical Model and Control System of Quadrotor
摘要
Abstract
In view of the problems of nonlinear ,strong coupling ,multi-input underactuated and sys-tem uncertainty of the four rotor aircraft system ,sectional cascade PID control strategy was present-ed .The external disturbance could be eliminated commendably by the method combined with the clas-sical PID control .The design of the system dynamics modeling and attitude solution were made ,fol-lowed by optimizing of the design of system hardware and software .The flight tests at the near-earth environment show that aircraft system can complete the action of vertical takeoff and landing ,hover-ing ,arbitrary rotation ,and can automatically adjust to a steady state subjected to outside interfer-ence ,which achieve a balanced and stable flying effect .关键词
四旋翼飞行器/建模/PID/系统设计/飞行实验Key words
quadrotor/modeling/PID/system design/flight experiment分类
信息技术与安全科学引用本文复制引用
王史春..四旋翼飞行器力学模型与控制系统设计[J].中北大学学报（自然科学版）,2014,(2):218-224,7.基金项目
大学生科技创新项目（2013DKC07）；中央高校基本科研业务费专项资金资助 （）
