论文部分内容阅读
针对四旋翼欠驱动系统飞行过程中具有的非线性和强耦合性,提出了基于RBF-ARX模型四旋翼飞行器的LQR控制器设计方法。该法首先根据四旋翼飞行器的动力学特性构建四旋翼飞行器RBF-ARX的模型结构,并采用离线非线性参数优化方法辨识模型参数,获取满足工程精度需要的四旋翼非线性动态模型。然后,基于该模型设计了具有状态反馈的四旋翼飞行器的LQR控制器,并通过求解工作点的Riccati方程,获得状态反馈矩阵。最后通过仿真和实时控制结果验证了该方法的有效性和可行性。
Aiming at the nonlinearity and strong coupling of the four-rotor under-driven system during flight, a design method of LQR controller based on RBF-ARX model quadrotorcraft is proposed. In this method, the model structure of the quadcopter RBF-ARX is first constructed according to the dynamics of the quadrotor and the parameters of the model are identified by using the off-line non-linear parameter optimization method to obtain the quadrupole nonlinear dynamic model that meets the engineering accuracy requirements. Then, based on the model, LQR controller of quadrotor with state feedback is designed and the state feedback matrix is obtained by solving the Riccati equation of working point. Finally, the simulation and real-time control results verify the effectiveness and feasibility of the method.