雷达应用的八旋翼无人机:控制设计的建模和分析

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS) Pub Date : 2015-11-01 DOI:10.1109/RED-UAS.2015.7441019

M. Makarov, C. Maniu, S. Tebbani, Israel David Hinostroza Sáenz, Matheus Moreira Beltrami, J. Kienitz, R. Menegazzi, C. Moreno, Thibaut Rocheron, Joan Rojas Lombarte

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引用次数: 9

摘要

在小型无人机雷达应用的背景下，从控制设计的角度对旋翼进行了动力学建模和分析。作为一个研究和教育项目的一部分，旨在设计一个嵌入式雷达系统的垂直起降(VTOL)飞行机器人，本文提出了一个完整的多变量非线性模型的市售转子刚体运动，充分参数化考虑转子的几何和质量特性和负载。该模型的完成考虑了由于无人机与空气之间的摩擦而产生的空气阻力的影响。为了满足雷达应用的控制目标，设计了用于高度和姿态控制的PID控制器，以及用于轨迹跟踪的线性二次型控制器。仿真结果验证了所提控制律的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Octorotor UAVs for radar applications: Modeling and analysis for control design

In the context of radar applications using small UAVs (Unmanned Aerial Vehicles), this paper focuses on the dynamic modeling and the analysis of an octorotor in view of control design. As part of a research and educational project aiming at designing a VTOL (vertical take-off and landing) flying robot with an embedded radar system, this paper presents a complete multivariable nonlinear model of the rigid body motion of a commercially available octorotor, fully parametrized considering the geometry and mass properties of the octorotor and the load. This model is completed to take into account the effects of air drag due to the friction between the drone and the air. To meet the control objectives for radar applications, a PID (Proportional Integral Derivative) controller for altitude and attitude control, then a Linear Quadratic controller for trajectory tracking are designed. The proposed control laws are validated through simulation results and exhibit effective performance.

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来源期刊

2015 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS)

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