系统仿真学报 ›› 2015, Vol. 27 ›› Issue (12): 3057-3062.

• 复杂系统建模与仿真 • 上一篇    下一篇

X型四旋翼无人机建模及四元数控制

丁少宾1,2, 肖长诗1, 刘金根2, 文元桥1   

  1. 1.湖北省内河航运技术重点实验室,湖北 武汉 430063;
    2.武汉理工大学信息工程学院光纤传感技术与信息处理教育部重点实验室,湖北 武汉 430070
  • 收稿日期:2014-07-14 修回日期:2014-09-17 出版日期:2015-12-08 发布日期:2020-07-30
  • 作者简介:丁少宾(1988-),男,湖北,硕士,研究方向为无人机控制算法;肖长诗(1974-),男,湖北,博士,教授,研究方向为研究智能海事视频监控;刘金根(1966-),男,江西,博士,副教授,研究方向为光电成像、图像传输与处理。
  • 基金资助:
    国家自然科学基金青年项目(51209166)

Modeling and Quaternion Control of X-Type Quadrotor

Ding Shaobin1,2, Xiao Changshi1, Liu Jingen2, Wen Yuanqiao1   

  1. 1. Hubei Inland Shipping Technology Key Laboratory, Wuhan 430063, China;
    2. Key Laboratory of Fiber Optic Sensing Technology and Information Processing, Ministry of Education, School of Information Engineering,Wuhan University of Technology, Wuhan 430070, China
  • Received:2014-07-14 Revised:2014-09-17 Online:2015-12-08 Published:2020-07-30

摘要: 对X型四旋翼无人机做了合理假设以及受力分析,推导并建立了X型四旋翼无人机全面的动力学数学模型,考虑了无人机平动、转动空气阻力,并且将转子、螺旋桨和机体看成多刚体系统。在Solidworks软件中,建立了无人机实物模型以获得无人机惯性参数直接以四元数作为反馈控制量,设计出多通道双回路矢量PD控制系统。以Matlab/Simulink为平台,对四元数反馈控系统和欧拉角反馈控制系统进行对比控制仿真。从仿真结果来看,这2种反馈模式都能对无人机模型进行位置、姿态跟踪等控制,但是四元数反馈控制系统具有过渡时间短、计算量少以及无奇点产生的优点。

关键词: X型四旋翼, 多刚体系统, 四元数, PD

Abstract: A comprehensive dynamic model of X-type quadrotor was established and simulated. Different from other widely used models that usually treated quadrotor as a single-rigid-body system, the rotors, propellers and the aircraft body were treated as a multi-rigid-body system in the proposed model. The 3D model wireframe was constructed using Solidworks and the important inertial parameters were extracted from the design data. Two types of multi-channel-double-loop vector PD flight controller were designed and fine tuned, one was based on quaternion feedback and the other was based on Euler angle feedback. The close-loop systems were simulated on Matlab/Simulink. The simulation results show that both systems achieve stable control of aircraft position and pose, however, quaternion feedback based controller shows shorter transition time, less computation and no singularity point compared to Euler angle feedback based controller.

Key words: X-type quadrotor, multi-rigid-body system, quaternion, PD

中图分类号: