福建电脑2024，Vol.40Issue(7)：81-85,5.DOI:10.16707/j.cnki.fjpc.2024.07.015
四旋翼飞控系统设计与仿真
Design and Simulation of Quadrotor Flight Control System
摘要
Abstract
This paper proposes a quadcopter flight control system that combines fuzzy control and inner and outer loop cascade PID algorithm to address the issues of poor adaptive ability and weak anti-interference ability in autonomous flight of unmanned aerial vehicles.The system is based on the principle of quadcopter flight to establish a dynamic model.The outer loop of the cascade PID is used to adjust the expected attitude angle,and the inner loop is used to adjust the expected angular velocity to enhance flight robustness.On this basis,fuzzy control is further added to enable the system to adaptively adjust the flight attitude parameters.A control model is established and simulated using Matlab/Simulink.The experimental results indicate that the system can effectively enhance the adaptive ability and robustness of quadcopter aircraft.关键词
四旋翼无人机/模糊控制/四旋翼飞控系统Key words
Quadcopter Drone/Fuzzy Control/Quadcopter Flight Control System分类
信息技术与安全科学引用本文复制引用
郝瑞阳,马文涛,陈希银..四旋翼飞控系统设计与仿真[J].福建电脑,2024,40(7):81-85,5.基金项目
本文为河南省教育厅2023年大学生创新创业训练计划项目"基于树莓派的森林巡检无人机"(No.202312746019)、郑州科技学院2023年大学生创新创业训练计划项目"基于树莓派的森林巡检无人机"(No.DC202319)阶段性成果,得到2023年度大学生创新创业训练计划项目(No.202312746019)资助. （No.202312746019）
