现代电子技术2017，Vol.40Issue(18)：11-14,19,5.DOI:10.16652/j.issn.1004-373x.2017.18.003
基于梯度下降法和双环PID的四旋翼飞行器的研究与设计
Research and design of quadrotor based on gradient descent method and double-loop PID
摘要
Abstract
The quadrotor,with its advantages such as agile controllability and small geographical limitation,attracts more and more attention in the fields of military,civilian,scientific research,etc. At present,most researches in China on the un-manned aerial vehicle(UAV)focus on how to make the UAV fly higher,farther and longer. However,the design in this paper aims to make the UAV fly lower and more stably. During the flight,the ultrasonic ranging technology is adopted to make the quadrotor fly at a low altitude near the earth′s surface,the gradient descent method is used to calculate the attitude of the quadrotor,and double-loop PID control is enabled to further improve the system stability. The experimental result shows that the designed quadrotor can fly stably at a super low altitude of 3~50 cm above the earth′s surface.关键词
四旋翼飞行器/超低空飞行/双环PID/无人机/超声波测距Key words
quadrotor/super low altitude flight/double-loop PID/unmanned aerial vehicle/ultrasonic ranging分类
信息技术与安全科学引用本文复制引用
马娅婕,彭攀来,刘国庆,金瑾,徐高凯..基于梯度下降法和双环PID的四旋翼飞行器的研究与设计[J].现代电子技术,2017,40(18):11-14,19,5.基金项目
武汉科技大学大学生科技创新基金研究项目(16ZRC127) （16ZRC127）
教育部留学回国人员科研启动基金 （）
湖北省教育厅科学研究计划资助项目重点项目(D20151106) （D20151106）
