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为了克服无人飞行器控制系统中欠驱动与变量间强耦合的问题,常采用需要被控对象精确数学模型的动态逆方法,但飞行器负载发生变化时因模型误差的引入,精确路径跟踪难以保证。提出了一种改进动态逆方法,即在四旋翼系统快变量环路(姿态控制环)中引入模型参考自适应与动态逆相结合的方法,从姿态与位置两方面设计了完整的路径跟踪控制器。最后,基于pixhawk飞控板搭建的四旋翼硬件实验平台参数对所提出的控制方案进行MATLAB仿真分析,与传统动态逆方法相比,改进动态逆方法在负载减少10%情况下能较快适应模型参数的变化,具有更稳定和精确路径跟踪性能。
In order to overcome the problem of the strong coupling between underactuated and variable in UAV control system, the dynamic inverse method, which requires accurate mathematical model of the controlled object, is often adopted. However, due to the introduction of model error when the load of aircraft changes, accurate path tracking is difficult to guarantee. An improved dynamic inverse method is proposed, that is, the method of combining model reference adaptive and dynamic inverse is introduced in the fast variable loop (attitude control loop) of quadrotor system, and a complete path following control is designed from two aspects of attitude and position Device. Finally, based on the experimental data of the four-rotor hardware experimental platform built by pixhawk, the proposed control scheme is simulated by MATLAB. Compared with the traditional dynamic inverse method, the improved dynamic inverse method can adapt to the model quickly when the load is reduced by 10% Parameter changes, with more stable and accurate path tracking performance.