| 四旋翼飞行器姿态控制系统设计 |
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| 引用本文： | 王伟,马浩,孙长银.四旋翼飞行器姿态控制系统设计[J].科学技术与工程,2013,13(19):5513-5519. |
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| 作者姓名： | 王伟 马浩 孙长银 |
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| 作者单位： | 1. 南京信息工程大学信息与控制学院,南京,210044
2. 东南大学自动化学院,南京,210096 |
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| 基金项目： | 国家杰出青年科学基金;国家自然科学基金项目（面上项目，重点项目，重大项目） |
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| 摘 要： | 为解决微小型飞行器姿态控制系统成本高、控制性能不稳定等缺点,以自主研发的四旋翼飞行器为研究对象,提出采用廉价的角速率陀螺仪和加速度计,并结合姿态角模型,利用卡尔曼滤波器推测姿态角信息。考虑飞行器的建模误差以及飞行过程中存的外部干扰,为提高控制系统的鲁棒性,采用模型参考滑模控制理论(Model Reference Sliding Mode Control,MRSMC)设计姿态控制器。实验结果表明所设计的姿态控制系统具有良好的跟踪与鲁棒性能。
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| 关 键 词： | 四旋翼 姿态控制 卡尔曼滤波器 模型参考滑模控制 |
| 收稿时间： | 2013/3/26 0:00:00 |
| 修稿时间： | 2013/3/26 0:00:00 |
Control System Design for Quad-Rotor Aircraft |
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| Wang Wei,Ma Hao and Sun Changyin.Control System Design for Quad-Rotor Aircraft[J].Science Technology and Engineering,2013,13(19):5513-5519. |
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| Authors: | Wang Wei Ma Hao and Sun Changyin |
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| Institution: | Nanjing University of Information Science & Technology,Southeast University |
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| Abstract: | Abstract: In order to solve the problems of high cost and poor stability in MAV attitude control system, a Quad-Rotor aircraft that designed by our research group is selected as our platform and the attitude control is discussed. To obtain the attitude angle, a new method of using the gyroscopes and accelerometer together with the attitude model to surmise the angular by Kalman filter is proposed. In controller design, considering the modeling error and outer disturbance, the MRSMC is adopted to improve the robustness. The experimental results show the good performance in tracking and robustness of the designed control system. |
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| Keywords: | quad-rotor attitude control Kalman filter MRSMC |
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