风场干扰下四旋翼无人机的飞行控制与仿真

中国民航大学学报 ›› 2021, Vol. 39 ›› Issue (3): 16-21.

风场干扰下四旋翼无人机的飞行控制与仿真

杨永刚，宋炜

（中国民航大学 a. 通用航空学院； b. 航空工程学院，天津 300300）

收稿日期:2020-07-13 修回日期:2020-07-13 接受日期:2020-06-09 出版日期:2021-06-25 发布日期:2021-11-28
作者简介:杨永刚（1978—），男，吉林四平人，教授，博士，研究方向为机器人技术、无人机技术.

Flight control and simulation of quad-rotor UAV under wind field disturbance

YANG Yonggang , SONG Wei

（a. College of General Aviation; b.College of Aeronautical Engineering, CAUC, Tianjin 300300, China）

Received:2020-07-13 Revised:2020-07-13 Accepted:2020-06-09 Online:2021-06-25 Published:2021-11-28

摘要/Abstract

摘要： 针对四旋翼无人机在野外工作受风干扰的问题，提出了风场干扰下四旋翼无人机的飞行控制方法。通过对四旋翼无人机的受力分析，考虑陀螺仪效应建立非线性数学模型，并引进外部风场干扰，建立了在风场作用下的位置姿态控制模型。设计反步法控制器，实现四旋翼无人机的位置及姿态控制，利用 Lyapunov 稳定性理论证明系统的稳定性，并利用Matlab/Simulink 模拟分析控制策略的效果。在自然风的作用下，这一模型准确反映了系统的动态特性，且反步法控制器对四旋翼无人机执行轨迹追踪控制稳定性良好。

关键词: 四旋翼无人机, 风场扰动, 反步法控制, Matlab ／ Simulink 仿真

Abstract: Aiming at the problem that quad-rotor UAV is usually disturbed by wind in the field, a flight control method of quad-rotor UAV under wind disturbance is proposed. Based on force analysis of quad-rotor UAV, the nonlinear mathematical model is established by considering the gyroscope effect, and the external wind field disturbance is introduced to establish the dynamic model under the action of wind field. The backstep controller is designed to realize the position and attitude control of the quad-rotor UAV. Lyapunov stability theory is used to prove the stability of the system, and Matlab/Simulink is used to simulate and analyze the control strategy effect. Under the action of natural wind, this model accurately reflects the dynamic characteristics of the system, and the backstep controller can also track the trajectory of the four-rotor UAV, which has good stability

Key words: , quad-rotor UAV, wind field disturbance, backstep control, Matlab/Simulink simulation

中图分类号:

V249

杨永刚 , 宋炜. 风场干扰下四旋翼无人机的飞行控制与仿真[J]. 中国民航大学学报, 2021, 39(3): 16-21.

YANG Yonggang , SONG Wei . Flight control and simulation of quad-rotor UAV under wind field disturbance [J]. Journal of Civil Aviation University of China, 2021, 39(3): 16-21.

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