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Updated: Jun 24, 2025

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关于为无人四旋翼飞机设计可配置的无人机自动驾驶仪

Ali Bhar^1,2, Mounir Sayadi¹

¹University of Tunis, ENSIT, Labo SIME, Tunis, Tunisia.

Frontiers in neurorobotics

|June 14, 2024

概括

本研究介绍了用于无人机 (UAV) 四旋翼机的联合比例衍生和比例整合衍生 (PD-PID) 控制器,以增强森林火灾检测和管理系统.

科学领域:

机器人和控制系统机器人和控制系统
环境监测技术环境监测技术
航空航天工程航空航天工程

背景情况:

无人机 (UAV),特别是四旋翼机,在各种应用中越来越重要.
森林火灾的检测和管理需要先进的,经济的技术来减轻生态损害.
现有的四旋翼机控制策略包括非线性反线性化,LQR,SMC,PD和PID控制器.

研究的目的:

开发和评估使用内外环设计的四旋翼机的态度和高度控制器.
为了研究一个带有可调节参数用于四旋翼控制的联合比例导数和比例整数导数 (PD-PID) 控制器的效率.
提高四旋翼机在森林火灾检测和监视等应用中的能力.

主要方法:

实现一个内外循环控制架构用于四旋翼稳定.
开发使用非线性反线性化,LQR,SMC,PD和PID控制技术的四旋翼自动驾驶仪.
使用MATLAB Simulink对拟议的PDP-PID联合控制器进行基于模拟的性能评估.

主要成果:

组合的PD-PID控制器在模拟中表现出有希望的性能.
控制器的设计有助于改善四旋翼动力学的控制和干扰排斥.
在PD-PID组合中可调节的参数允许量身定制的性能优化.

结论:

拟议的PD-PID控制器为四旋翼的态度和高度控制提供了有效的解决方案.
这种方法显示了提高无人机在环境监测中的可靠性和效率的巨大潜力,特别是用于森林火灾管理.
进一步的计算研究证实了综合PD-PID控制策略的可行性和有希望的结果.

关键词:

控制PD/PID的控制方式自动飞行员自动驾驶员设计设计设计设计四旋翼机四旋翼机四旋翼机四旋翼机无人驾驶飞行器无人驾驶飞行器无人驾驶飞行器

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