摘要
为满足无人机高精度的飞行控制系统设计需求,稳定而精确的完成无人机的姿态与位置控制是无人机控制研究的必要条件.无人机在空中飞行姿态与位置复杂多变,利用多传感器的多源信息可以在控制策略、导航定位、信号传输、数据处理、实时姿态解算等方面得到优化,完成持续而高效的飞行姿态与位置控制.通过融合滤波多种传感器的实时参数信息,可以有效避免单一传感器性能不足,无法持续而精确控制的问题,消除误差干扰,提高无人机的姿态、速度、位置的控制,同时增强其稳定性与适应性.采用互补滤波融合的实时信息获取方法,融合多种传感器数据,通过PID控制算法实现姿态与位置控制,实现无人机平稳飞行和定点飞行.测试结果表明,无人机姿态角波动范围控制在0.04度之内,飞行姿态保持良好,在定高定点模式下,高度控制在10cm的上下波动区间,水平方向总体漂移幅度控制在0.5m之内,具备良好的定高定点飞行的能力.
To meet the demand of high-precision flight control system of unmanned aerial vehicle(UAV),stable and accurate completion of the UAV attitude and position control is a prerequisite for UAV control research.UAV flight attitude and position are complex and keep changing in the air.With the application of multi-sensor multi-source information,optimization can be realized in aspects such as the control strategy,navigation and positioning,signal transmission,data processing,and real-time attitude estimation,which can ensure continuous and efficient flight attitude and position control.Performance of a single sensor is insufficient and cannot ensure continuous and precise control.By contrast,through the real-time parameter information fusion filtering from multiple sensors,the UAV attitude,speed and position control can be improved with the error interference being eliminated,and the UAV stability and adaptability can be enhanced.Smooth UAV flying and hovering can be realized by employing real-time information acquisition method through complementary filter fusion,integrating data from multiple sensors,and implementing attitude and position control through PID control algorithm.Test results show that the UAV attitude angle fluctuation ranges within 0.04 degrees and that the flight attitude is sound with altitude controlled within 10cm and overall horizontal drift magnitude controlled within 0.5m under the altitude-hold and position-hold mode.The UAV is equipped with a strong ability for altitude-hold and position-hold flight.
作者
肖苏华
翁泽桂
梁欢
王春强
林于程
赵玉洁
XIAO Su-hua;WENG Ze-gui;LIANG Huan;WANG Chun-qiang;LIN Yu-cheng;ZHAO Yu-jie(School of Mechatronic Engineering,Guangdong Polytechnic Normal University,Guangzhou Guangdong 510635;Guangxi Special Equipment Inspection and Research Institute,Nanning Guangxi 530299)
出处
《广东技术师范大学学报》
2023年第3期36-43,52,共9页
Journal of Guangdong Polytechnic Normal University
基金
国家自然科学基金项目(52105436)
2021年广东省科技创新战略专项资金(pdih2021a0284)
广州市科技计划项目(202102080184)
广东省高等职业教育教学改革研究与实践项目(GDJG2021088)
广东省教育厅特色创新项目(2019KTSCX086)
衡阳市重点研发计划项目(202002022385).
