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为实现四旋翼精确高效的自主飞行,提出一种基于磁传感器的串级PID控制自主飞行系统。该系统硬件平台采用GPS接收机提供经、纬度,磁传感器提供航向角;软件上采用串级PID控制,外环为位置导航级,内环为姿态控制级。首先根据四旋翼起始点位置与预置目标点的关系得到目标航向角和航线,同飞往目标点过程中的偏航角和偏航距作为外环PID控制输入量,得到姿态的参考值,然后经内环PID控制使系统能跟随参考姿态,实时修正航线,使四旋翼以近似直线的轨迹飞往目标点。该系统具有控制精确,计算量小,飞行路径简短,飞行稳定的特点。最终以自行搭建的四旋翼为平台,验证了该自主飞行控制方法的有效性。
In order to realize the accurate and efficient autonomous flight of the quadrotor, a magnetic PID-based PID control autonomous flight system is proposed. The hardware platform of the system uses GPS receiver to provide the heading angle through latitude and longitude, and the magnetic sensor provides the heading angle. The software adopts cascade PID control, the outer ring is the position navigation stage, and the inner ring is the attitude control level. According to the relationship between the starting point of quadrotor and the preset target point, the target heading angle and course are obtained, and the yaw angle and yaw distance in the process of heading to the target point are used as the outer loop PID control input to obtain the attitude reference value. Then the inner loop PID control enables the system to follow the reference attitude and correct the route in real time so that the four rotors fly to the target point with the approximate straight line trajectory. The system has the characteristics of precise control, small calculation, short flight path and stable flight. Finally, the self-built four-rotor is used as a platform to verify the effectiveness of the autonomous flight control method.