摘要
目前的四旋翼无人机飞行姿态控制技术飞行精度控制能力差,导致无人机飞行姿态的变换不到位。应用欧拉角速度与机身的速度测量四旋翼无人机的角速度,从无人机的角速度可以进一步推算出耦合性的具体值,四旋翼无人机的飞行姿态受到较强耦合性的影响,在直观上可以将四旋翼无人机的飞行姿态控制视为缓慢的平滑运动状态,因姿态变化引起的角速度变化则通过针对性测量获取。实验结果表明,高海拔环境下四旋翼无人机飞行姿态控制技术能够有效提高飞行精度控制能力,增强无人机飞行姿态的变换效果。
At present,the flight attitude control technology of quadrotor UAV has poor flight accuracy control ability,which leads to the flight attitude transformation of UAV not in place.The angular velocity of quadrotor UAV is measured by Euler angular velocity and fuselage velocity.The specific value of coupling can be calculated from the angular velocity of UAV.The flight attitude of quadrotor UAV is affected by strong coupling.The flight attitude control of quadrotor UAV can be regarded as the angle caused by slow smooth motion and attitude change intuitively.The velocity change is obtained by targeted measurement.The experimental results show that the flight attitude control technology of quadrotor UAV can effectively improve the flight accuracy control ability and enhance the flight attitude transformation effect of UAV in high altitude environment.
作者
高晗
颜世成
GAO Han;YAN Shicheng(Dali Bureau,CSG EHV Power Transmission Company,Dali 671000,China)
出处
《电子设计工程》
2021年第15期17-20,26,共5页
Electronic Design Engineering
基金
国家电网科技项目(国家电网科(2017)179号)。
关键词
高海拔环境
四旋翼无人机
飞行姿态
控制技术
high altitude environment
quadrotor UAV
flight attitude
control technology
