摘要
摘 要
四旋翼飞行器是一种四螺旋桨驱动的、可垂直起降的飞行器，这种结构被广泛用于微小型无人飞行器的设计，可以应用到航拍、考古、边境巡逻、反恐侦查等多个领域，具有重要的军用和民用价值。四旋翼飞行器同时也具有欠驱动、多变量、强耦合、非线性和不确定等复杂特性，对其建模和控制是当今控制领域的难点和热点话题。
本次设计对小型四旋翼无人直升机的研究现状进行了细致、广泛的调研，综述了其主要分类、研究领域、关键技术和应用前景，然后针对圆点博士的四旋翼飞行器实际对象，对其建模方法和控制方案进行了初步的研究。
首先，针对四旋翼飞行器的动力学特性，根据欧拉定理以及牛顿定律建立四旋翼无人直升机的动力学模型，并且考虑了空气阻力、转动力矩对于桨叶的影响，建立了四旋翼飞行器的物理模型；根据实验数据和反复推算，建立系统的仿真状态方程；在Matlab环境下搭建了四旋翼飞行器的非线性模型。选取四旋翼飞行器的姿态角作为控制对象，借助Matlab模糊工具箱设计了模糊PID控制器并依据专家经验编辑了相应的模糊规则；通过仿真和实时控制验证了控制方案的有效性，并在此控制方案下采集到了输入输出数据；利用单片机编写模糊PID算法控制程序，实现对圆点博士四旋翼飞行器实物的姿态控制。本设计同时进行了Matlab仿真和实物控制设计，利用模糊PID算法，稳定有效的对四旋翼飞行器的姿态进行了控制。
关键词：四旋翼飞行器；模糊PID；姿态控制
Ⅰ
目录
Abstract
Quadrotor UAV is a four propeller driven, vertical take-off and landing aircraft, this structure is widely used in micro mini unmanned aerial vehicle design and can be applied to multiple areas of aerial, archaeology, border patrol, anti-terrorism investigation, has important military and civil value.Quadrotor UAV is a complicated characteristic of the complicated characteristics such as the less drive, the multi variable, the strong coupling, the nonlinear and the uncertainty, and the difficulty and the hot topic in the control field.
Research status of the design of small quadrotor UAV were detailed and extensive research, summarized the main classification, research areas, key technology and application prospect of and according to Dr. dot quadrotor actual object, the modeling method and control scheme were preliminary study.
First, for the dynamic characteristics of quadrotor UAV, dynamic model of quadrotor UAV is established according to the theorem of Euler and Newton's laws, and consider the air resistance and rotation torque for the effects of blade, the establishment of the physical model of the quadrotor UAV; root according to experimental data and repeated calculation, the establishment of system simulation equation of state; under the MATLAB environment built the nonlinear model of the quadrotor UAV Select the attitude of the quadrotor angle as the control object, with the help of matlab fuzzy toolbox to design the fuzzy PID controller and according to experience of experts to edit the corresponding fuzzy rules; through the simulation and real-time control verify the effectiveness of the control scheme, and this control scheme under the collection to the data input and output; written by SCM fuzzy PID control algorithm, dots, Quad rotor UAV real attitude control. The design of the Matlab simulation and the physical control design, the use of fuzzy PID algorithm, the stability of the four rotor aircraft attitude control.
Keywords:Quadrotor UAV;Fuzzy PID;Attitude control
Ⅱ
目录
目 录
摘要（中文） ........................................................................................................................... Ⅰ 摘要（英文） ........................................................................................................................... Ⅱ 第一章 概述 .............................................................................................................................. 1
1.1 课题背景及意义 ............................................................................................................................. 1 1.2 四旋翼飞行器的研究现状 ............................................................................................................... 2 1.3 四旋翼飞行器的关键技术 ............................................................................................................... 5
1.3.1 数学模型................................................................................................................................ 5 1.3.2 控制算法................................................................................................................................ 6 1.3.3 电子技术................................................................................................................................ 6 1.3.4 动力与能源问题 .................................................................................................................... 6 1.4 本文主要内容................................................................................................................................... 6 1.5本章小结 ........................................................................................................................................... 7
第二章 四旋翼飞行器的运动原理及数学模型 ...................................................................... 7
2.1四旋翼飞行器简介 ............................................................................................................................ 7 2.2 四旋翼飞行器的运动原理 ............................................................................................................. 8
2.2.1 四旋翼飞行器高度控制 ........................................................................................................ 8 2.2.2 四旋翼飞行器俯仰角控制 .................................................................................................... 9 2.2.3 四旋翼飞行器横滚角控制 .................................................................................................... 9 2.2.4 四旋翼飞行器偏航角控制 .................................................................................................. 10 2.3四旋翼飞行器的数学模型 .............................................................................................................. 11
2.3.1坐标系建立 ........................................................................................................................... 11 2.3.2基于牛顿-欧拉公式的四旋翼飞行器动力学模型.............................................................. 12 2.4 本章小结 ........................................................................................................................................ 15
第三章 四旋翼飞行器姿态控制算法研究 ............................................................................ 15
3.1模糊PID控制原理 ......................................................................................................................... 15 3.2 姿态稳定回路的模糊PID控制器设计 ........................................................................................ 16
3.2.1 构建模糊PID控制器步骤 ................................................................................................. 17 3.2.2 基于Matlab的姿态角控制算法的仿真 ............................................................................ 22 3.3 本章小结 ........................................................................................................................................ 25
第四章 四旋翼飞行器飞行控制系统软件设计 .................................................................... 25
4.1 模糊PID控制算法流程图 ............................................................................................................ 25 4.2 系统实验及结果分析 ..................................................................................................................... 26 4.3 本章小结 ........................................................................................................................................ 28
第五章 总结与展望 ................................................................................................................ 29
5.1 总结 ................................................................................................................................................ 29 5.2 展望 ................................................................................................................................................ 29
参考文献 .................................................................................................................................. 29