四旋翼双环滑模姿态控制系统设计与仿真

针对四旋翼姿态角难以快速跟踪实际控制指令,传统线性化方法稳定性能不佳、用简单滑模控制存在控制律难以实现等问题,提出了一种基于双环滑模控制系统的设计方案。通过建立四旋翼的姿态动力学模型推导出姿态角和角速度的控制律方程。最后,基于实验室搭建的四旋翼硬件实验平台对该方案进行MATLAB仿真分析,并与常规PID控制方法和反步法进行了比较。结果 表明该方法有效可行,跟踪姿态角更加快速、精确。...

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Published in电子技术应用 Vol. 41; no. 7; pp. 150 - 153
Main Author 蔡伟平 胡越黎 杨文荣 冉峰
Format Journal Article
LanguageChinese
Published 上海大学机电工程与自动化学院,上海,200072%上海大学机电工程与自动化学院,上海200072 2015
上海大学微电子研究与开发中心,上海200072%上海大学微电子研究与开发中心,上海,200072
Subjects
MATLAB
双环滑模
四旋翼无人飞行器
姿态控制
四旋翼无人飞行器
sliding mode
双环滑模
attitude control
姿态控制
MATLAB
quad-rotor unmanned aerial vehicle
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ISSN0258-7998
DOI10.16157/j.issn.0258-7998.2015.07.042

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Summary:针对四旋翼姿态角难以快速跟踪实际控制指令,传统线性化方法稳定性能不佳、用简单滑模控制存在控制律难以实现等问题,提出了一种基于双环滑模控制系统的设计方案。通过建立四旋翼的姿态动力学模型推导出姿态角和角速度的控制律方程。最后,基于实验室搭建的四旋翼硬件实验平台对该方案进行MATLAB仿真分析,并与常规PID控制方法和反步法进行了比较。结果 表明该方法有效可行,跟踪姿态角更加快速、精确。
Bibliography:A control system design scheme based on the double-loop sliding mode method is proposed for the issue that the attitude of the four-rotor is difficult to quickly track the actual control instructions, and the stability of the traditional linear method is not satisfying, the control law with a simple sliding mode is difficult to achieve. Through the establishment of attitude dynamic model of the quadrotor, the control law of the attitude angle and angular velocity is deduced. Finally, the MATLAB simulation for the scheme is analysed based on the hardware experimental platform of a quadrotor built in laboratory. The results show that the proposed control algorithm is effective and feasible, attitude tracking is more rapid and accurate compared to the conventional PID and backstepping control method.
Cai Weiping, Hu Yueli, Yang Wenrong, Ran Feng （1 .College of Meehatronic Engineering and Automation, Shanghai University, Shanghai 200072, China; 2.Microelectronic Research and Development Center, Shanghai University
ISSN:0258-7998
DOI:10.16157/j.issn.0258-7998.2015.07.042