MATLAB微型四旋翼无人飞行器的设计与控制

摘要微型四旋翼无人飞行器能够垂直起降，机动性好，便于携带，具有很好的发展空间。但它是一个非线性、多变量、高度耦合的欠驱动系统，因此飞行器的建模与控制一直是无人飞行器领域研究的难点。本文对飞行器的建模和控制进行了研究，具体内容如下：21764
首先，分析了微型四旋翼无人飞行器的飞行原理，定义了基本的坐标系，计算出相应的坐标转换矩阵，建立了飞行器的数学模型。
其次，对微型四旋翼无人飞行器的非线性动力学模型进行了线性化，在简化模型的基础上设计出PID控制器，最后通过仿真实验对算法有效性进行了检验。
再次，针对微型四旋翼无人飞行器的欠驱动特性，设计控制方案，并设计微型四旋翼无人飞行器的反步控制器，运用MATLAB软件进行仿真。最后将PID控制器和反步控制器的仿真结果进行比较，分析了各自的优劣特性。
最后，总结全文，对后续研究工作进行展望。
关键词微型四旋翼无人飞行器欠驱动动力学模型 PID控制   反步法
毕业设计说明书（论文）外文摘要
Title        The Design and Control of a Micro-Quadrotor
Abstract
Micro-quadrotor is capable of vertical takeoff and landing, and has good mobility, so it has a very good development. But it is a nonlinear, multivariable, highly coupled and underactuated system. Therefore, control of the micro-quadrotor is a difficulty. This paper studies the control of the micro-quadrotor. The main contents are as follows.
Firstly, the principles of flight are analyzed. The basic coordinates are defined. The corresponding coordinate transformation matrix is calculated and a mathematical model of the micro-quadrotor is created.
Secondly, the nonlinear dynamic model the micro-quadrotor is linearized. A PID controller on the basis of the simplified model is designed and a simulation experiment is to test the effectiveness of the algorithm.
Thirdly, the control scheme of the micro-quadrotor is designed due to its underactuated characteristics. Then a backstepping controller is designed and emulated by using MATLAB software. The simulation results of the PID controller and the backstepping controller are compared with each other.
Concluding remarks are presented at the end of this dissertation. Some open problems are also pointed out, which deserve further study.
Keywords Micro-quadrotor    Dynamic model    Underactuated system
PID control    Backstepping control
目   次
1 绪论 1
1.1 课题研究的背景及意义 1
1.2 四旋翼飞行器的发展 1
1.3 微型四旋翼无人飞行器的技术难点 3
1.4 论文的主要工作和内容安排 3
2 微型四旋翼无人飞行器的飞行原理及建模 5
2.1 微型四旋翼无人飞行器飞行原理介绍 5
2.2 坐标系与各种表示符号的定义 7
2.3 坐标转换矩阵 8
2.4 建立系统模型 9
2.5 本章小结 12
3 基于线性化系统的PID控制器设计 13
3.1 引言 13
3.2 非线性数学模型的简化 13
3.3 飞行器的PID控制器设计 14
3.4 仿真结果 17
3.5 本章小结 19
4 基于非线性系统的Backstepping控制器设计 20
4.1 引言 20
4.2 Backstepping算法的介绍 20
4.3 提出控制策略并建立系统状态方程 24
4.4 飞行器的Backstepping控制器设计 25
4.5 仿真结果 28
4.6 本章小结 30
结论 31
致谢 32
参考文献 33
1 绪论 MATLAB微型四旋翼无人飞行器的设计与控制:http://www.751com.cn/zidonghua/lunwen_14112.html