摘要
针对四旋翼无人机智能应用中的自主着陆问题,设计一种着陆控制算法。基于四旋翼无人机之动力学模型,设计双环PD控制算法,外环控制其位置,内环控制姿态。将外环产生的两个中间指令信号传递给内环,内环通过其内环控制律实现对两个指令信号的跟踪;通过调整内外环增益系数,使内环收敛速度快于外环收敛速度,保证闭环系统的稳定性。仿真结果验证了该控制方法的可行性和有效性。
Aiming at the autonomous landing problem of quadrotor UAV intelligent application,we design a landing control algorithm.Based on the dynamic model of the quadrotor UAV,a double-loop PD control algorithm is designed.The outer loop controls its position,and the inner loop controls the attitude.The two intermediate command signals generated by the outer loop were transmitted to the inner loop,and the inner loop realized tracking of the two command signals through its inner loop control law.The stability of the closed-loop system was guaranteed by adjusting the gain coefficient of the inner and outer loop,so that the inner loop convergence speed was ensured to be faster than the outer loop convergence speed.The simulation results show that the control method is feasible and effective.
作者
宋志强
方武
刘孝赵
Song Zhiqiang;Fang Wu;Liu Xiaozhao(Intelligent Service Engineering Technology Research and Development Center of Jiangsu Province,Suzhou 215009,Jiangsu,China;School of Information Technology,Suzhou Institute of Trade and Commerce,Suzhou 215009,Jiangsu,China;School of Mechanical and Electrical Technology,Suzhou Institute of Trade and Commerce,Suzhou 215009,Jiangsu,China)
出处
《计算机应用与软件》
北大核心
2020年第9期324-327,共4页
Computer Applications and Software
基金
江苏省高等学校自然科学研究项目(18KJB510042)
苏州经贸职业技术学院院级科研项目(KY-ZRA1804)。
