摘要
四旋翼飞行器是一种新型的无人机,有着结构简单,灵活的优点,广泛应用于灾后搜救,目标跟踪及安全巡检,近年来,民用及军用市场的广泛需求更促进了四旋翼飞行器的发展,由于四旋翼飞行器的飞行姿态具有强耦合及不稳定的特性,而姿态控制又是飞行器控制系统的核心,该文简单介绍了四旋翼飞行器的姿态解算及控制方法,给出了互补滤波器融合系数的方法,在PID控制算法中使用串级PID控制,经过实验证明,所设计控制系统性能可靠,满足飞行器姿态控制的要求。
The quadrotor aircraft is a special kind of UAV（unmanned aerial vehicle）,which has advantages such as simple structure, flexible movement,the quadrotor aircraft can provide value in searching survivors,target tracking and safe inspection.recently, the broad application requirement of quadrotor aircraft in both military and civilian markets promoted the development of quadrotor,because of the quadrotor aircraft is a system with instability and high coupling,and then the attitude control system is the key of quadroter aircraft,The paper analyzed the attitude resolving and the attitude control of quadretor aircraft.The method of determining the fusion coefficient of complementary filter is given.Using cascade PID control system in PID control arithmetic, the test results show that the control system is reliable and can meet require of the attitude control system.
出处
《科技资讯》
2015年第35期33-34,共2页
Science & Technology Information
