上海交通大学学报(自然版) ›› 2012, Vol. 46 ›› Issue (06): 956-961.

• 自动化技术、计算机技术 • 上一篇    下一篇

基于自适应逆控制方法的小型四旋翼无人直升机姿态控制

李劲松a,宋立博a,颜国正b   

  1. (上海交通大学 a. 工程训练中心; b. 电子信息与电气工程学院,  上海 200240)
  • 收稿日期:2011-09-02 出版日期:2012-06-28 发布日期:2012-06-28
  • 基金资助:

    国家自然科学基金资助项目(51005147/E050103),上海交通大学第一期IPP项目(IPP1016)资助

Attitude Control for Small Unmanned Four-rotor Based on Adaptive Inverse Control

 LI  Jin-Song-a, SONG  Li-Bo-a, YAN  Guo-Zheng-b   

  1. (a. Engineering Training Center;  b. School of Electronic, Information and Electrical Engineering,  Shanghai Jiaotong University,  Shanghai  200240, China)
  • Received:2011-09-02 Online:2012-06-28 Published:2012-06-28

摘要: 以上海交通大学工程训练中心运动控制实验室自行研制的小型四旋翼无人直升机为研究对象,搭建了姿态控制实验系统.根据牛顿欧拉方程建立了小型四旋翼直升机的动力学模型,首次将自适应逆控制(AIC)方法运用于小型四旋翼直升机控制系统中,实现了小型四旋翼直升机的姿态稳定控制.仿真结果和实际飞行实验表明,AIC方法在小型四旋翼直升机姿态控制中具有很好的实时性和鲁棒性.

关键词: 小型四旋翼无人直升机, 自适应逆控制, 动力学建模, 最小均方算法

Abstract: Taking the small unmanned four-rotor as a research object,the attitude control experimental platform was built. The dynamical model of the small fourrotor was built according to Newton-Euler formalism,and adaptive inverse controllers (AIC)was used in the control of the small unmanned four-rotor for the first time. The attitude stabilization control of the small unmanned four-rotor was realized on the experimental control platform. The simulation results and platform control experiment indicate that AIC is real-time and robust in the attitude control of the small unmanned four-rotor.

Key words: small unmanned four-rotor, adaptive inverse control(AIC), dynamical modeling, least mean square(LMS) algorithm

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