考虑控制有界的四旋翼系统的镇定设计与仿真

发布时间：2024-02-15 01:04

　　本文从硬件和软件两个方面对四旋翼姿态控制系统的镇定问题进行了研究。在硬件部分,将各个功能组件组装后得到了可用于实时研究分析的四旋翼平台。在软件部分,本文对具有控制受限的四旋翼飞行器姿态控制系统的镇定问题进行了研究。讨论了两种全局镇定四旋翼姿态控制系统的方法,一种是具有控制受限的多个积分器系统的全局镇定方法,另一种是具有控制受限的非线性前馈系统的全局镇定方法。此外,还采用了高增益观测器(HGO)来提高闭环系统对不确定性的鲁棒性,并减少了对状态变量测量的个数。本文还利用MATLAB对所讨论的镇定算法进行了数值仿真。仿真结果表明,所采用的控制器具有良好的控制效果,并相比其他方法有一定的优越性。

【文章页数】：131 页

【学位级别】：硕士

【文章目录】：
摘要
Abstract
Chapter1 Introduction to Quadrotor
    1.1 Introduction
    1.2 MAV Configurations
        1.2.1 Helicopters Compared to Other Flying Principles
        1.2.2 Configurations Comparison of Short VTOL
        1.2.3 Configurations of Candidate VTOL for Future MAV
    1.3 Quadrotor History
    1.4 Vertical Take-off and Landing(VTOL)Aircraft
    1.5 Significance of the Study
    1.6 Applications
    1.7 Literature Review and Analysis
        1.7.1 Status of Current Research
    1.8 Summary
Chapter2 Working and Assembly of Quadrotor
    2.1 Introduction
        2.1.1 Radio Transmitters and Receivers
        2.1.2 Flight Controller
        2.1.3 Electronic Speed Control(ESCs)
    2.2 Quadrotor Technology
        2.2.1 Commercial Quadrotors
        2.2.2 Open-Source and University Developed Quadrotors
    2.3 Components Detail Used in the Project
        2.3.1 Brushless Quadrotor Motors
        2.3.2 Propellers
        2.3.3 Battery
        2.3.4 Frame
        2.3.5 Power Divider
        2.3.6 Global Positioning System(GPS)
        2.3.7 Inertial Measurement Unit(IMU)
        2.3.8 Flight Controller(add details of additional ICs like MPU-6000,Voltage regulator LG33)
        2.3.9 Electronic Speed Controller(ESC)
        2.3.10 Radio Telemetry
        2.3.11 Radio Transmitter or Remote Controller and Receiver
    2.4 Conclusion
Chapter3 Theoretical Analysis and Simulink Design of Global Stabilization control forQuadrotor Aircraft
    3.1 Model Description of Quadrotor
    3.2 Euler-Lagrange Formalism
        3.2.1 Rotation Matrix
        3.2.2 Angular Rates
    3.3 State-Space Model
    3.4 Control Law Design
        3.4.1 Preliminaries
        3.4.2 Altitude and Yaw Control
        3.4.3 Pitch and Roll Control on Linearized Model
        3.4.4 Pitch and Roll Control Based on Nonlinear Model
    3.5 Simulation Design of Analyzed Control
        3.5.1 Dynamic Model
        3.5.2 Altitude and Yaw Control
        3.5.3 Pitch and Roll Control
    3.6 Simulation Results
    3.7 Simulation Results with Disturbance or Interference
    3.8 Comparison of different Control Designs
    3.9 High-Gain Observers(HGOs)
    3.10 Comparison of Controller Results with and without Observers
    3.11 Conclusion
Chapter4 Coding of Global Stabilization Control for Quadrotor Aircraft
    4.1 Control Algorithm to Implement
    4.2 MATLAB Code to Design Stabilization Control Algorithm
    4.3 Final MATLAB Code
    4.4 Embedded C/C++coding for ARM Controller
    4.5 Conclusion
Chapter5 Future Developments
    5.1 Future Developments
结论
Conclusion
APPENDIX
    A.MATLAB Code to Assign Parameters
    B.MATLAB Code to Design Stabilization Control Algorithm
    C.Final MATLAB Code
    D.Embedded C++Programming
References
Acknowledgement



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