信息与控制2018，Vol.47Issue(6)：663-670,8.DOI:10.13976/j.cnki.xk.2018.7490
风扰下基于气动参数估计的四旋翼无人机控制
Quadrotor UAV Control with Disturbance Based on Aerodynamic Parameter Estimation
摘要
Abstract
The quadrotor controller output is generally affected by wind disturbances which causes the unmanned aerial vehicle (UAV) lift coefficient to fluctuate violently, which reduces the controllability and stability of the quadrotor control. To solve this problem, we design a linear quadratic regulator (LQR) method combined with a compensation based on aerodynamic parameter estimation. First, we simplify and linearize the dynamic model of the quadrotor to design the position and attitude controller based on the optimal linear quadratic control theory. Next, we estimate the aerodynamic parameter online using Kalman filter and then compensate the speed of the rotors to improve the control of UAV altitude and yaw by the calculation of the coefficients' scale factor. Finally, several simulation experiments are done to validate the proposed method. The experimental results show that the proposed method outperforms the conventional methods in aerodynamic estimation and compensation, and thus yields a better control of UAV altitude and yaw.关键词
四旋翼无人机/线性二次型调节器 (LQR)/气动参数/卡尔曼滤波Key words
unmanned aerial vehicle/linear quadratic regulator (LQR)/aerodynamic parameter/Kalman filter分类
信息技术与安全科学引用本文复制引用
王正熙,陈洋,郑秀娟,程磊..风扰下基于气动参数估计的四旋翼无人机控制[J].信息与控制,2018,47(6):663-670,8.基金项目
国家自然科学基金资助项目(61573263, 61703314) （61573263, 61703314）
国家重点研发计划专项子课题资助项目(2017YFC0806503) （2017YFC0806503）
湖北省科技支撑计划资助项目(2015BAA018) （2015BAA018）
