基于自耦PD的四旋翼无人机轨迹跟踪控制
Quadcopter UAVs trajectory tracking control based on self-coupling PD
梁洪基 1李俊丽 1张元耀 1陈河江 1王安琪1
作者信息
- 1. 昆明理工大学 信息工程与自动化学院,云南 昆明 650504
- 折叠
摘要
针对输入受限的四旋翼无人机,为了使其能够快速稳定地跟踪期望轨迹,使用了一种基于自耦PD(SCPD)的轨迹跟踪控制方法.该方法将四旋翼无人机系统不确定性和内外扰动等复杂因素定义为总和扰动,进而将非线性不确定系统映射为未知线性系统.根据自耦PID控制理论,为四旋翼无人机位置环和姿态环各控制通道设计了独立的SCPD控制器,并设计了一种基于误差的速度因子模型.以定点悬停、轨迹跟踪等方式,与基于传统PID和滑模控制的飞行控制系统进行了动态响应性能测试和抗干扰性能对比.仿真结果表明:基于SCPD控制的四旋翼飞行控制系统具有较优的动态响应性能和较强的抗干扰能力,验证了SCPD控制旋翼无人机轨迹跟踪的有效性.
Abstract
For input-constrained quadcopter UAVs,in order to enable them to track the desired trajec-tory quickly and stably,a trajectory tracking control method based on self-coupling PD(SCPD)is used.Ac-cording to SCPID control theory,three independent SCPD control subsystems are established for the position loop and attitude loop of quadcopter UAVs,and an error-based velocity factor model is designed to hover at fixed point and trajectory tracking.The dynamic response performance test and anti-interference performance comparison with the traditional PID-based flight control system were carried out.The simulation results show that the quadcopter flight control system based on SCPD control has better dynamic response performance and strong anti-interference ability,which verifies the effectiveness of SCPD control in the field of rotorcraft UAV trajectory tracking control.
关键词
旋翼无人机/自耦PD控制/定点悬停/轨迹跟踪/抗干扰能力Key words
quadcopter UAV/self-coupling PD control/fixed-point hovering/trajectory tracking/an-ti-interference ability引用本文复制引用
基金项目
国家自然科学基金(61163051)
云南省重点研发计划项目(202002AC080001)
出版年
2024
NETL
NSTL
维普
万方数据