摘要
基于四轴飞行器的应用价值,国内开始了针对性研究,其中四轴动力学模型的建立和飞行控制,是研究难点。文中建立了四轴动力学模型,并结合基于加速度积分计算的空间追踪模型与改进型PID控制算法,设计了四轴飞行位置控制系统。同时,利用Matlab/Simulink模块对控制系统进行了仿真,验证了其控制性能。
Due to its great application value, quadcopters have drawn increasing attention of domestic institu-tions. The establishment of quadcopter dynamic model and flight control are two major difficulties. This paper estab-lishes a quadcopter dynamic model, and designs a quadcopter position control system combined with space trackingmodel based on the acceleration integral and improved PID control algorithm. The Matlab/Simulink module is used tosimulate the control system and test the control performance.
出处
《电子科技》
2015年第1期69-72,共4页
Electronic Science and Technology
