四旋翼无人飞行器设计

分类号密级UDC学位论文四旋翼飞行器建模与控制方法的研究作者姓名：何嘉继指导教师：杨光红教授东北大学信息科学与工程学院申请学位级别：硕士学科类别：工学学科专业名称：导航、制导与控制论文提交日期：2012年6月论文答辩日期：2012年6月学位授予日期：2012年7月答辩委员会主席：井元伟教授评阅人：董久祥、常晓恒东北大学2012年6月AThesisinNavigationGuidanceandControlModelingtheQuad-rotorandControlStrategyresearchByHeJiajiSupervisor:ProfessorYangGuanghongNortheasternUniversityJune2012-I-独创性声明本人声明，所呈交的学位论文是在导师的指导下完成的。论文中取得的研究成果除加以标注和致谢的地方外，不包含其他人己经发表或撰写过的研究成果，也不包括本人为获得其他学位而使用过的材料。与我一同工作的同志对本研究所做的任何贡献均己在论文中作了明确的说明并表示谢意。学位论文作者签名：日期：学位论文版权使用授权书本学位论文作者和指导教师完全了解东北大学有关保留、使用学位论文的规定：即学校有权保留并向国家有关部门或机构送交论文的复印件和磁盘，允许论文被查阅和借阅。本人同意东北大学可以将学位论文的全部或部分内容编入有关数据库进行检索、交流。作者和导师同意网上交流的时间为作者获得学位后：半年□一年□一年半□两年□学位论文作者签名：导师签名：签字日期：签字日期：东北大学硕士学位论文摘要-II-四旋翼飞行器建模与控制方法的研究摘要四旋翼飞行器是一种电动的、能够垂直起降的、多旋翼式遥控自主飞行器。它在总体布局形式上属于非共轴式碟形飞行器，与常规旋翼式飞行器相比，其特殊的机械结构与飞行动力学特性，在科技研究应用中有着重要意义。本文以四旋翼飞行器为研究对象，主要在四旋翼飞行器的六自由度动力学建模，以及在此基础上实现系统欠驱动控制的非线性控制方法的研究等两个方面展开了研究。研究的主要内容包括以下几个方面：首先，根据六自由度的四旋翼飞行器的机体组成、运动产生机理，建立了描述四旋翼飞行器飞行运动的机体坐标系和地面坐标系，并给出了两个坐标系之间的坐标转换矩阵；再根据四旋翼飞行器的动力系统模型以及空气动力学知识，由牛顿欧拉定理推导出了六自由度四旋翼飞行器的全状态非线性动力学方程。昀后，根据系统数学模型，并在忽略弹性形变、空气扰动等外部干扰的情况下对系统模型进行了适当的简化。其次，根据前面简化了模型，分析了四旋翼飞行器的欠驱动特性，据此提出了一种双控制回路，六子系统的欠驱动控制策略，再根据选择的系统状态变量与控制输入，得到了满足严格反馈形式的系统方程，在此基础上，设计了基于分步Backstepping方法的四旋翼飞行器飞行控制器。该控制器能够无稳态误差地实现各姿态镇定、定点到达、位置与偏航角轨迹跟踪。昀后通过仿真实验对控制器的有效性进行了检验。再次，为了解决系统模型误差对系统响应的影响问题以及四旋翼飞行器对外扰动敏感的问题，引入系统模型误差估计器和误差积分项，将Backstepping方法应用于构建系统自适应控制器，实现了四旋翼飞行器的自适应控制。该自适应控制器在传感器干扰，外界扰动等情况下，有更优异的性能。昀后通过仿真实验对控制器的效果进行了检验。昀后是对全文进行总结和对下一步工作的展望。关键词：四旋翼飞行器，反步法，自适应控制，姿态控制，动力学建模东北大学硕士学位论文Abstract-III-ModelingtheQuad-rotorandControlStrategyResearchAbstractThequad-rotoraircraftisanelectricmulti-rotorautonomousvehiclewhichisVTOLandcanberemotecontrolled.Itisanon-coaxialdiscaircraftintheoveralllayoutofforms.Comparedwithconventionalrotarywingaircraft,itsspecialmechanicalstructureandflightdynamicscharacteristicsareofgreatsignificanceinthescientificandtechnologicalresearchandapplication.Takingthequad-rotoraircraftastheobject,thisthesismainlydiscussesthefollowingtwoquestions:dynamicmodelingofthesixdegreesoffreedomofthequad-rotoraircraft,andbasedonthismodeling,achievingthenonlinearcontrolmethodofunder-actuatedsystems.Themaincontentsofthisthesisincludethefollowingaspects:Firstofall,accordingtothebodycompositionandthemovementmechanismofthequad-rotoraircraftofsixdegreesoffreedom,thisthesisestablishestheairframeandthegroundcoordinatesystemdescribingtheflightmovementsofthequad-rotoraircraft,andgivesthecoordinatetransformationmatrixbetweenthetwocoordinatesystems.Basedonthedynamicalsystemmodelofthequad-rotoraircraftandtheaerodynamicknowledge,thisthesisthendeducesfullstatenonlineardynamicequationsofthesixdegreesoffreedomofthequad-rotoraircraftbytheNewton-Eulertheorem.Finally,onthebasisofsystemmathematicalmodel,thisthesisappropriatelysimplifiesthesystemmodel,ignoringtheelasticdeformation,airturbulenceandotherexternalinterferences.Secondly,basedontheprevioussimplifiedmodel,thisthesisanalyzestheunder-actuatedcharacteristicsofthequad-rotoraircraft,wherebythisthesisproposesadualcontrolloopandsomeunder-actuatedcontrolstrategiesofthesixsubsystems.Accordingtothechosensystemstatevariablesandcontrolinputs,thisthesisthenobtainsthesystemequationswhichmeetthestrictfeedbackform,andonthebasisofwhich,designsaBackstepping-basedflightcontrollerofthequad-rotoraircraft.Thiscontrollerisabletotrackeveryposturecalm,designatedreach,positionandyawangletrajectorywithnosteady-stateerror.Finally,thealgorithmvalidityistestedthroughsimulationexperiments.Thirdly,inordertoresolvetheproblemsoftheimpactofthesystemmodelerrorandthesensitivenessofthequad-rotoraircrafttoexternaldisturbances,thesystemmodelerror东北大学硕士学位论文Abstract-IV-estimatorandtheerrorintegralareintroduced.Atthesametime,Backsteppingapproachisappliedtoestablishthesystemadaptivecontrollertofinallyachievetheadaptivecontrolofthequad-rotoraircraft.Thisadaptivecontrollershowsmoreexcellentperformanceinthecaseofsensorinterference,externaldisturbanceandsoon.Finally,theeffectofthecontrolleristestedthroughsimulationexperiments.Atlast,thethesispresentsthesummaryofthisstudyandtheoutlookofthefuturework.Keywords:quad-rotoraircraft;backsteppingmethod;adaptivecontrol;attitudecontrol;dynamicmodeling东北大学硕士学位论文目录-V-目录独创性声明························································································································I摘要························································································································································IIAbstract·····················································································································································III第1章绪论·········································································································································11.1问题背景···························································································································11.2四旋翼飞行器发展历史与国内外研究现状····································································31.2.1早期四旋翼飞行器的发展······································