荆学东,潘翔

• 1:上海应用技术大学

摘要(Abstract)：

为了实现四轴飞行器的姿态控制,建立四轴飞行器四元数运动学方程,给出了四元数微分方程的解析解和数值解,在此基础上求解出欧拉角。四轴飞行器采用串级PID控制算法,以欧拉角作为系统外环,补偿后的角速度作为系统内环。通过Matlab/Simulink仿真,对比单级PID控制效果,验证了算法的可靠性。最后,搭建了飞行器试验平台,在STM32飞控板上编程实现算法。实验证明,该控制系统较单级PID具有响应速度快,超调量小等优点,基本满足室外飞行要求。

关键词(KeyWords)： 四轴飞行器;四元数法;PID控制算法;串级PID;姿态控制;微分方程

Abstract:

Keywords:

基金项目(Foundation): 上海市科学技术委员会科研计划项目(16090503700)~~

作者(Author): 荆学东,潘翔

DOI: 10.16652/j.issn.1004-373x.2018.16.029

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