| 基于线性二次调节器的四旋翼飞行器控制 |
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| 引用本文： | 张忠民,丛梦苑.基于线性二次调节器的四旋翼飞行器控制[J].应用科技,2011,38(5):38-42,60. |
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| 作者姓名： | 张忠民 丛梦苑 |
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| 作者单位： | 哈尔滨工程大学信息与通信工程学院,黑龙江哈尔滨,150001 |
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| 摘 要： | 为了研究飞行器的灵敏度和快速性的问题,使用了线性二次调节器,它可以兼顾系统的4个性能指标（快速性、准确性、稳定性、灵敏度）,主要应用于震动系统的控制算法解决.根据四旋翼飞行器模型,建立了电机拉力以及螺旋桨的模型,给出了系统的动力学方程.最后使用Simulink进行仿真并对仿真结果分析,发现经过线性二次调节器后系统的响应时间明显减少了,证明了基于线性二次调节器的飞行器的可行性.
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| 关 键 词： | 四旋翼飞行器 线性二次调节器 Simulink |
Controlling quadrotors based on linear quadratic regulator |
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| ZHANG Zhongmin,CONG Mengyuan.Controlling quadrotors based on linear quadratic regulator[J].Applied Science and Technology,2011,38(5):38-42,60. |
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| Authors: | ZHANG Zhongmin CONG Mengyuan |
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| Institution: | ZHANG Zhongmin,CONG Mengyuan(College of Information and Communication Engineering,Harbin Engineering University,Harbin 150001,China) |
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| Abstract: | To solve sensitivity and quickness of a quadrotor,we use the linear quadratic regulator.Considering the four performance indexes of speed,accuracy,stability and sensitivity,the linear quadratic regulator is mainly used to solve the control algorithm in the vibration system.According to the mathematical assumptions,we built a model of the quadrotor'motor and propeller,then gave the algorithm of the linear quadratic regulator for attitude stabilization.Finally,the control system was developed in Mablab/Simuli... |
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| Keywords: | Simulink |
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