摘要
所研究对象为四旋翼倾转定翼无人机(Quad Tilt Wing-Unmanned Aerial Vehicle,QTW-UAV),首先对QTW-UAV的直升机模式进行动力学特性分析,建立其滚转运动数学模型,然后设计了基于模型参考的PID自适应控制器,在传统PID控制方法的基础上融合自适应控制算法,给出PID参数自整定率,实现了QTW-UAV姿态角的自适应控制;仿真结果表明,设计的控制器具有良好的稳态和跟踪性能,实现了QTW-UAV姿态稳定控制。
This paper mainly research the tilt fixed wing-unmanned aerial vehicle with four rotors, namely quad tilt wing-unmanned aerial vehicle （QTW-UAV）. Firstly we analysis the dynamics of QTW-UAV in helicopter mode and establish the dynamic model in roll- ing motion. Then design a PID adaptive controller based on reference model. Based on the traditional PID control method and combined with the adaptive control algorithm, we get the PID parameter self-tuning rate and achieve the attitude adaptive adjustment. Finally, the simula- tion results prove that the design of the controller have a good steady performance.
出处
《计算机测量与控制》
2017年第2期64-66,73,共4页
Computer Measurement &Control
基金
国家自然科学基金(51575283)
