四旋翼无人机建模与PID控制器设计
摘 要：文中通过对四旋翼无人机的机体结构和飞行原理的认识，运用牛顿——欧拉法对四旋翼无人机进行动力学受力分析，在小角度转动下，建立了该无人机的数学模型。运用PID对其进行控制，通过无人机的数学模型，设计了双环PID控制器（内环姿态控制与外环位置控制），通过MATLAB仿真验证其有效性。
关键词：四旋翼无人机；建模；PID控制
中图分类号：TB472 文献标识码：A
文章编码：1672-7053(2018)06-0135-03
Abstract：In this paper, through the knowledge of the body structure and flight principle of the quadrotor UAV, Newton-Euler method is used to analyze the dynamics of the quadrotor UAV. At a small angle of rotation, the mathematical model of the drone was established. Using PID to control it, a double-loop PID controller (inner loop attitude control and outer loop position control) was des- igned through the mathematical model of the drone, and its effectiveness was verified by MATLAB simulation.
Key Words： Quadrotor UAV; modeling; PID control
