对城市环境中六自由度四旋翼飞行器的控制和指挥的贡献

Ndzana Jean Calvin, Yeremou Tamtsia Aurelien, Mane Mane Jeannot, Assiene Mouodo Luc Vivien, Nkotto Akono Cyrille
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引用次数: 0

摘要

本文的目的是使有关建模,控制,仿真和稳定的一个复杂的系统,具有特定的无人机的六个自由度,其中提出了许多优势和挑战的贡献。四旋翼飞行器是一种非线性、强耦合、不稳定的系统,在技术、军事、政治等层面上对社会做出了巨大而有益的贡献。这样的结构很难掌握,因为控制是多变量的,也就是说,六个自由度要同时控制,并且在一个受干扰的环境中运行。两个命令,特别是Backstepping和PID,将被用于获得四轴飞行器在期望值的稳定性,在姿态和高度。本文介绍了在两种控制下四轴飞行器性能的比较结果。在Matlab/Simulink环境下,阐述了各命令参数对系统响应时间的影响。对于PID控制,仿真时间最少为10秒,响应时间较差,几乎为2秒,这些结果证明了Backstepping命令的鲁棒性。
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Contribution to the Control and Command of a Quadrirotor with Six Degrees of Freedom in an Urban Environment
The objective of this article is to make a contribution relating to the modeling, control, simulation and stabilization of a complex system, with six degrees of freedom of a particular drone which presents many advantages and challenges. On the technological, military, political and other levels with an enormous and beneficial social contribution, it is a quadrotor which is a nonlinear, strongly coupled and unstable system. Such a structure is difficult to master, because the control is multivariable in the sense that six degrees of freedom are to be controlled simultaneously and operating in an environment subject to disturbances. Two commands, in particular Backstepping and PID, will be applied to obtain the stabilization of the quadcopter at the desired values, in attitude and in altitude. This article presents the comparative results of the performance of the quadcopter under the two controls. The effect of the parameters of each command on the response time of the system is elucidated under the Matlab/Simulink environment. For a simulation time of up to 10 seconds minimum with a less good response time of almost 2 seconds for the PID control, these results prove the robustness of the Backstepping command.
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