机械科学与技术2025，Vol.44Issue(3)：545-551,7.DOI:10.13433/j.cnki.1003-8728.20230166
系留四旋翼无人机串级PID控制
Cascade PID Control of Tethered Quadrotor UAV
刘浩浩 1张素侠1
作者信息
- 1. 天津大学机械工程学院,天津 300354
- 折叠
摘要
Abstract
During the flight of tethered unmanned aerial vehicle(UAV),the cable acts a varying tension on the UAV,which usually causes the crash of UAV in serious cases.Therefore,the influence of cable tension must be considered in the design of tethered UAV control algorithm.In this research,the cable tension is approximately proportional to the flight height of the UAV,the simplified six degree of freedom mathematical model of the tethered quadrotor UAV is established,the cascade PID controller is designed for simulation analysis and the tethered quadrotor UAV model test system is built for experimental testing in the breeze environment.The results show that the cascade PID controller designed can make the tethered UAV achieve good flight effect in the breeze environment,the cable tension acted on the tethered UAV platform is mainly related to the flight height of the UAV,so the treatment method of cable tension is feasible.关键词
系留四旋翼无人机/缆绳张力/数学模型/串级PID控制/实验测试Key words
tethered quadrotor UAV/cable tension/mathematical model/cascade PID control/experimental test引用本文复制引用
刘浩浩,张素侠..系留四旋翼无人机串级PID控制[J].机械科学与技术,2025,44(3):545-551,7.
