四旋翼飞行器控制系统设计

国内图书分类号：TP273学校代码：10213国际图书分类号：621.3密级：公开工学硕士学位论文四旋翼飞行器控制系统设计硕士研究生：魏丽文导师：陈平副教授申请学位：工学硕士学科、专业：电力电子与电力传动所在单位：电气工程系答辩日期：2010年6月授予学位单位：哈尔滨工业大学ClassifiedIndex:TP273U.D.C:621.3DissertationfortheMasterDegreeinEngineeringDESIGNOFFOUR-ROTORAIRCRAFTCONTROLSYSTEMCandidate：WeiLiwenSupervisor：AssociateProf.ChenPingAcademicDegreeAppliedfor：MasterofEngineeringSpecialty：PowerElectronicsandElectricalDriveAffiliation：Dept.ofElectricalEngineeringDateofDefence：June，2010Degree-Conferring-Institution：HarbinInstituteofTechnology哈尔滨工业大学工学硕士学位论文摘要本课题主要通过利用已有的相关技术，初步研究和设计了四旋翼飞行器控制系统。四旋翼飞行器属于旋翼式小型无人飞行器的一种，与传统的无人飞行器相比，四旋翼飞行器机动灵活性强，承载力高，适合于理想稳态和准稳态飞行条件下的全方位垂直起降，在军事和民用领域均有广阔的发展前景。本文工作目标是实现飞行器的平稳垂直起降和小角度内姿态调整。文中首先介绍了目前国内外四旋翼飞行器的发展状况和本课题的研究内容；其次对四旋翼飞行器的飞行原理从理论上进行了初步探讨，设计了飞行器系统的整体结构，采用结构模块化的思路，以AduC7026为主控制芯片，完成了系统主控模块、驱动模块、检测模块和执行模块的硬件电路设计；之后结合飞行器系统的硬件结构，采用C编程语言完成了系统软件编程部分的工作。作为一个MIMO欠驱动系统，四旋翼飞行器强耦合性，非线性和时变的动力学特征以及系统本身的不确定性等特点使得系统的控制变得十分复杂。针对这些问题，本文提出了一种基于H∞控制理论的回路成型方法来进行系统控制器的设计，该方法将经典的回路成形法和带宽概念与现代的H∞控制理论的鲁棒稳定性融合在一起，充分考虑系统不确定性的影响，保证控制系统的鲁棒稳定性，并优化性能指标。设计中首先对飞行器系统进行了动力学建模，之后采用H∞回路成型法设计了系统鲁棒控制器，并通过仿真验证了控制器的控制效果。昀后，进行了系统各个模块的调试，并在实验室条件下成功的实现了飞行器模型的离地飞行和垂直起降。通过飞行实验，验证了四旋翼飞行器控制系统设计方案的合理性。关键词：四旋翼飞行器；垂直起降；无刷直流电机；H∞控制理论；回路成型哈尔滨工业大学工学硕士学位论文AbstractInthispaper,anewtypeofhelicopter,Four-Rotoraircraft,hasbeendesignedandintroduced.Four-rotoraircraftisakindofMicroUnmannedAerialVehicle,comparedwithtraditionalunmannedaerialvehicle,thestrongmaneuverabilityandhighbearingcapabilitymakeiteasytoachieveverticaltake-offandlandingunderidealstationaryorquasi-stationaryfightconditions,andprovidetheaircraftwithabroaddevelopingprospectinbothmilitaryandcivilianareas.Theobjectiveoftheresearchisachievingthestableverticaltake-offandlandingoftheaircraftandflyingattitudeadjustmentinasmallanglerange.Thepresentdevelopingstatusoffour-rotoraircraftathomeandabroadandthemaincontentoftheresearchhavefirstlybeenintroducedinthepaper,thenbasedontheinvestigationoffour-rotoraircraft’sflightprinciple,anintegralstructureoftheaircraftsystemhasbeendesignedbyusingastructure-modularizingmethodasdesigningconceptandAduC7026asthemicrocontroller,andthehardwarecircuitofthemaincontrolmodule,drivingmodule,testingmoduleandexecutivemodulehavebeenaccomplishedwithit.Combinedwiththehardwarestructure,thesoftwareprogrammingofthesystemhasalsobeenfulfilledusingCprogramminglanguage.Asanunder-actuatedmulti-inputandmulti-outputsystem,four-rotoraircrafthassomeunexpecteddynamicfeaturessuchashighcouplingdegree,nonlinearityandtime-varying,thismakesthecontrollingoftheaircraftverycomplicated.Tosolvethisproblem,aloopshapingmethodbasedonH∞controltheoryhasbeenpresentedtorealizethedesigningofsystemcontroller,themethodcombinesclassicloopshapingandtheconceptofbandwidthwiththerobuststabilityofmodernH∞controltheory,andgivesfullconsiderationoftheeffectofsystem’suncertaintytoensurerobuststabilityofthesystemandoptimizestheperformanceindex.Thedynamicmoduleoftheaircrafthasbeenbuiltforcontrollersimulation,aftersimulatingusingMatlab,thecontrolperformanceofthedesignedcontrollerhasbeenvertified.Intheend,theperformanceofsystemmoduleshasbeentested,andtheaircraftdesignedhascompleteditsflyingexperimentundercurrentlaboratorycoditionsuccessfully,whichvertifiedtherationalityofthedesignation.Keywords:Four-rotoraircraft,Verticaltake-offandlanding,BrushlessDCmotor,H∞controltheory,Loopshaping哈尔滨工业大学工学硕士学位论文-III-目录摘要.................................................................................................................................IAbstract...............................................................................................................................II第1章绪论.....................................................................................................................11.1课题背景及研究的目的和意义.............................................................................11.2四旋翼飞行器的发展及研究现状.........................................................................21.2.1旋翼飞行器的发展过程..................................................................................21.2.2无刷直流电机发展概述..................................................................................41.2.3相关控制理论的发展......................................................................................51.3主要研究内容.........................................................................................................6第2章四旋翼飞行器系统硬件设计...............................................................................72.1飞行器原理介绍.....................................................................................................72.2系统硬件设计.........................................................................................................82.2.1主要器件选择................................................................................................102.2.2控制模块设计................................................................................................122.2.3驱动模块设计................................................................................................152.2.4检测模块设计...........