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首先建立了四旋翼飞行器的非线性数学模型。然后根据小扰动理论对模型进行线性化处理,将系统处理为有一定不确定性的线性对象。针对飞行器数学模型的参数有一定的不确定性,运用线性定量反馈理论(QFT)对飞行器姿态回路进行了控制器以及前置滤波器的设计,以保证系统的鲁棒性以及给定的稳定裕度指标。仿真结果表明,在参数变化±30%内,设计的QFT控制器及前置滤波器可以保证系统的鲁棒稳定性,稳定指标达到设计的要求,同时实现对姿态的精确控制。
First of all, a nonlinear mathematical model of quadrotor is established. Then the model is linearized according to the theory of small perturbation, and the system is treated as a linear object with some uncertainty. The parameters of the mathematical model of the aircraft have certain uncertainties. The linear quantitative feedback theory (QFT) is used to design the controller and pre-filter of the aircraft attitude loop to ensure the robustness of the system and the stability Degree indicators. The simulation results show that the designed QFT controller and pre-filter can ensure the robust stability of the system and the stability index meets the design requirements within ± 30% of the parameter variation, meanwhile, the precise control of the attitude can be realized.