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高精度运动捕捉系统对四旋翼飞行器控制算法的研究具有重要意义。针对传统PID控制在出现较大速度变化率时,会输出很大偏差引起系统的振动,设计了一种不完全微分先行的改进PID控制算法,完成了四旋翼飞行控制器的设计,为了提高四旋翼控制算法的精确度,本文引入了运动捕捉系统,设计了四旋翼飞行器的导航控制系统并且搭建了飞行器测试平台。仿真和实验结果表明,设计的控制器具有良好的稳定性和跟踪性,为下一步更为深入的控制算法的设计和研究奠定了良好的基础。
High-precision motion capture system for quadrotor control algorithm research is of great significance. Aiming at the traditional PID control, when a large speed change rate occurs, it will output a great deviation to cause the system vibration. An improved PID control algorithm with incomplete differentiation is designed and the design of the quadrotor flight controller is completed. The accuracy of the rotor control algorithm, the introduction of the motion capture system, the design of the four-rotor pilot navigation control system and set up the aircraft test platform. Simulation and experimental results show that the designed controller has good stability and tracking, which lays a good foundation for the further design and research of control algorithm in the next step.