四旋翼飞行器设计与平稳控制仿真研究

230027QuadrotorHelicopter。PID。。PIDV271．4A1671－637X201203－0051－05DesignofaQuadrotorHelicopterandItsSmoothMotionControlSimulationPANGQingpeiLIJiawenHUANGWenhaoDepartmentofPrecisionMachineryandPrecisionInstrumentationUniversityofScienceandTechnologyofChinaHefei230027ChinaAbstractThebroadapplicationrequirementofquadrotorhelicoptersinbothmilitaryandcivilianmarketsduetotheiradvantagesoverregularairvehiclesstimulatesthedevelopmentofthem．AquadrotorhelicopterwasdesignedandfabricatedwithKalmanfilterusedforattitudecalculationandPIDcontrolutilizedforattitudecontrol．Dynamicalmodelswereestablishedforthequadrotorhelicopteranditspowersystem．Theresultsofsimulationandflighttestshowedthattheproposedcontrolstrategyisfeasibleandtheeffectivenessofthedynamicmodelswasverified．KeywordsquadrotorhelicoptermodelingKalmanfilterPID0、、。、、、1。MEMSMicroElectroMechanicalSys-tems。。VTOL、、、2011－02－132011－05－111984—。。。2。。1。Euler-Lagrange2。。3Euler、θψ。1。。19320123ElectronicsOptics＆ControlVol．19No．3Mar．20121Fig．1Definitionofthecoordinateframes1．1、。L·didt=u－Rmi－Ceωm1Jm·dωmdt+fmωm=Mm－MloadJm·dωmdt+fmωm=Mm－Mload2JmωmMmMloadfmuiCeCeωm。Mm=CmiCmMm。Jm·dωmdt=－C2mRm·ωm－Mc+CmRm·u3。Mc=dω2propellor=dω2md。1．2Eulerθψpqr。。pqr=10－sinθ0cossincosθ0－sincossinθ·θ·ψ·4L=T－VΓi=ddtLq·()i－Lq{i5Lqiq·iΓi。Ixx¨=θ·ψ·Iyy－IzzIyyθ¨=·ψ·Izz－IxxIzzψ¨=·θ·Ixx－Iyy{63。3RxxRyθyRzψz。Rθψ=RxRyθRzψ7XY[]Zxy[]zrXYZxyz=Rθψ()xyzT8。、、Ixx¨=θ·ψ·Iyy－Izz－Jθ·Ωsum+MxpropIyyθ¨=·ψ·Izz－Ixx+J·Ωsum+MypropIzzψ¨=·θ·Ixx－Iyy+MzpropΩsum=－Ω1－Ω2+Ω3+Ω49IxxyyzzθψoxzoyzIxyzyxz=0。MsumthrustMxprop34Myprop12Mzprop12343。Msumthrust=blΩ21+Ω22+Ω23+Ω24Mxprop=blΩ24－Ω23Myprop=blΩ22－Ω21Mzprop=dΩ21－Ω23+Ω22－Ω2410Mxprop'=JrωyΩ1+Ω2－Ω3－Ω4Myprop'=JrωxΩ3+Ω4－Ω1－Ω2{11JrΩ。xyz2519Mxpropsum=blΩ24－Ω23+JrωyΩ1+Ω2－Ω3－Ω4Mypropsum=blΩ22－Ω21+JrωxΩ3+Ω4－Ω1－Ω2Mzpropsum=dΩ21－Ω23+Ω22－Ω24{12、。21．1kg125cm。。4。4。。InertialMeasurementUnitIMU。2．1。IMU3ADXRS300MMA7260QT。2．2。PPMPulsePositionModulation。2．3FT06－ALM393G1PPMPulsePositionModulationSumSignal。2．4、。、、、、、、。。2．5。ATMEGA644P。I2C4。3C。PID。3．15。6。。yK。7。1u=gyro_rate132x=A·x+B·u143y=acc_angle154Inn=y－C·x165S=C·P·CT+SZ176K=A·P·CT·S－1187353x=x+K·Inn198P=A·P·AT－K·C·P·AT+SW201。。53。。1Table1ListofsymbolsA1．0－0．020．01．0B0．020．0C1．00．0SZ17．2SW0．0050．0050．0050．005P0．0050．0050．0050．0053．2PID。。EurocopterTigerPID。。PIPI。PI。I。IPI。PIPI。4MatlabSimulink。。0°。48。4PWM。122－8°9°3－11°15°。2Table2ListofparametersM1．1kgl0．625mJx0．10327kg·m2Jy0．10327kg·m2Jz0．25358kg·m22Fig．2Simulationresultswithoutanydisturbances3Fig．3Simulationresultsunderdisturbances4。60s20°。IMU。45194Fig．4Theflighttest5PIDMatlabSimulink。、、。1BOUABDALLAHSBECKERMSIEGWARTR．Autono-mousminiatureflyingrobotsComingsoonJ．IEEERobotics＆AutomationMagazine200714388-98．2BOUABDALLAHSSIEGWARTR．DesignandcontrolofquadrotorswithapplicationtoautonomousflyingD．EP-FL2006．3BOUABDALLAHSSIEGWARTR．Fullcontrolofaquadro-torC//2007IEEE/RSJInternationalConferenceonIn-telligentRobotsandSystemsVOLS．2007153-158．4．J．2007146113-117．5LEFFERTSEJMARKLEYFLSHUSTERMD．KalmanfilteringforspacecraftattitudeestimationJ．JournalofGuidanceControlandDynamics198255417-429．6CRASSIDISJLMARKLEYFLCHENGY．SurveyofnonlinearattitudeestimationmethodsJ．Journalofguidancecontrolanddynamics200730112-28．7．Matlab6．xKal-manJ．20041869-71．8MIANAAWANGDB．NonlinearflightcontrolstrategyforanunderactuatedquadrotorC//AerialRobot2008IEEEInternationalConferenceonNetworkingSensingandControl．SanyaChina2008938-942．39。1．SIFTJ．200730610-12．2．SIFTJ．200932650-53．3LOWEDG．DistinctiveimagefeaturesfromscaleinvariantkeypointsJ．InternationalJournalofComputerVision200460291-110．4LOWEDG．Localfeatureviewclusteringfor3DobjectrecognitionC//IEEEConferenceonComputerVisionandPatternRecognition2001682-688．5LOWEDG．Objectrecognitionfromlocalscale-invariantfeaturesC//InternationalConferenceonComputerVision19991150-1157．6LOWEDG．Fittingparameterizedthree-dimensionalmodelstoimagesJ．IEEETrans．PatternAnalysisandMachineIn-telligence1991135441-450．7MIKOLAJCZYKKSCHMIDC．AperformanceevaluationoflocaldescriptorsJ．IEEETransPatternAnalysisandMachineIntelligence200527101615-1630．8SUKTHANKARR．PCA-SIFTAmoredistinctiverepre-sentationforlocalimagedescriptorsC//ProceedingsConferenceComputerVisionandPatternRecognition2004511-517．9DELPONTEELSGROFODONEFetal．SVD-matchingusingSIFTfeaturesJ．GraphicalModels2006685415-431．10．SIFTJ．2008371181-183．11．SIFTJ．201022112760-2763．12．SIFTJ．200934101245-1249．553