计算机工程与应用2017，Vol.53Issue(21)：49-53,5.DOI:10.3778/j.issn.1002-8331.1606-0249
四旋翼无人飞行器控制算法设计
Design of four rotor unmanned spacecraft control algorithm
摘要
Abstract
For Qball-X4 four-rotor unmanned aircraft with its own characteristics , creating nonlinear model of system and adopting double closed-loop control algorithm with inner and outer loop are controlled by attitude and position respec-tively. Linear quadratic regulator is easy to solve state feedback control rate quickly, and has good robustness, thus LQR is utilized to design attitude inner loop controller. Due to the PID control algorithm has simple structure, strong robustness, thus PID is utilized to design position loop controller. Utilize Matlab/Simulink and flight test to verify control algorithm, and the result shows that the control algorithm can successfully achieve the hovering control, and achieve good control effect.关键词
四旋翼无人飞行器/非线性模型/线性二次型调节器/PID控制算法Key words
four-rotor unmanned aircraft/nonlinear model/linear quadratic regulator/PID control algorithm分类
信息技术与安全科学引用本文复制引用
赵玥,陈奕梅..四旋翼无人飞行器控制算法设计[J].计算机工程与应用,2017,53(21):49-53,5.基金项目
天津市自然科学基金(No.15JCYBJC47800). （No.15JCYBJC47800）
