Research on attitude controller of quadcopter based on cascade PID control algorithm
Research on attitude controller of quadcopter based on cascade PID control algorithm
复制标题
基于级联PID控制算法的四轴飞行器姿态控制器研究
DOI：
10.1109/itnec.2017.8285044
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Keyan Wang
中科院分区：
文献类型：
--
作者：
Nengsheng Bao;X. Ran;Zhanfu Wu;Yanfen Xue;Keyan Wang
四轴飞行器是一个四输入，六输出和欠驱动系统。由于四轴飞行器具有多变量、非线性、耦合和欠驱动的动力学特性，其姿态估计和控制策略是该领域的研究热点和难点问题。本文研究了基于四轴飞行器的控制策略。考虑到四轴飞行器在高动态飞行中受参数模型的影响，控制器是非线性的。本文通过对四轴飞行器模型的简化，设计了不受四轴飞行器参数模型影响的串级PID。仿真和实验结果表明，该控制器是有效的、稳定的。
The quadcopter is a four-input, six-output and underactuated system. The attitude estimation and control strategy of quadcopter are the hotspot and difficult research problems in this field due to the dynamic characteristics of multivariate, nonlinear, coupled and underactuated. In this paper, control strategy is studied based on quadcopter. Considering the nonlinear controller is affected by parameter model of quadcopter in high dynamic flight. This paper design the cascade PID that is not affected by parameter model of quadcopter by simplifying the model of quadcopter. The results of simulation and experiment show that this controller is effective and stable.