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由于四旋翼是一种抗干扰能力差,欠驱动的飞行器,很容易因外界环境干扰而失去稳定性,针对这一题,对四旋翼进行动力学建模,并在建模基础上设计了PID控制器,并采用Matlab仿真。实验结果表明,在设定合适的PID参数时,飞行器可以有效抑制由于空气流动或其他因素对飞行器的稳定性造成的干扰,并在期望值与实际的检测值发生偏离时通过PID的内外环,调节电机转速从而达到调整飞行姿态使其达到稳定姿态。
As the quadrotor is a kind of poor anti-interference ability, under-driven aircraft, it is easy to lose stability due to external environmental disturbances. To solve this problem, the quadrotor is modeled dynamically and the PID Controller, and using Matlab simulation. The experimental results show that the aircraft can effectively restrain the interference caused by the air flow or other factors on the stability of the aircraft when setting the appropriate PID parameters and adjust the inner and outer loops of the PID when the expected value deviates from the actual detection value Motor speed to achieve the adjustment of flight attitude to achieve a stable attitude.