农机化研究2024，Vol.46Issue(6)：1-8,18,9.
风场扰动下植保四旋翼无人机的建模与控制
Modeling and Control of Quadrotor UAV for Plant Protection Under Wind Disturbance
摘要
Abstract
Due to the low flying altitude of plant protection drone,they are easily affected by the environmental wind field in actual flight.According to the Newton-Euler equation,the dynamic model of the quadrotor aircraft in the wind envi-ronment is established,and the controller based on the inner and outer loop PID control strategy is designed.Among them,the attitude angle controller adopts a quaternion-based feedback controller,and the Lyapunov stability criterion is used to verify its global asymptotic stability;the attitude angle rate controller adopts a PID controller;the position con-troller adopts a velocity PID controller and position P controller.Through the wind field simulation experiment and actual flight experiment in Gazebo,the parameters of the designed quadrotor aircraft control system are debugged and verified,and the control performance of the designed quadrotor aircraft control system under the action of natural wind field is proved.The results show that the designed controller has the ability to control the stable flight of the quadrotor in the wind field environment.关键词
植保无人机/四旋翼飞行器/风场/四元数/全局稳定/PIDKey words
UAV for plant protection/quadrotor/wind field/quaternion/global staility/PID分类
农业科技引用本文复制引用
吕玉龙,石永康,金强,郭稳敏,唐田尧..风场扰动下植保四旋翼无人机的建模与控制[J].农机化研究,2024,46(6):1-8,18,9.基金项目
国家自然科学基金项目(51965056) （51965056）
自治区高校科研计划项目(61021800081) （61021800081）
