四轴飞行器控制系统

2015 19th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2015-11-09 DOI:10.1109/ICSTCC.2015.7321330

Daniel Gheorghita, Ionut Vintu, L. Mirea, Catalin Braescu

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引用次数: 23

摘要

本文提出了两种不同类型的四轴飞行器运动学和动力学数学建模方法。前者基于经典力学方程，后者由Denavit-Hartenberg形式主义和拉格朗日力学推导而来。利用得到的模型设计了四轴飞行器单轴运动控制。本文还提供了系统的物理和软件实现的一些细节，并对其进行了测试。

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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Quadcopter control system

The paper presents two different types of approach for mathematical modeling of quadcopter kinematics and dynamics. The first one is based on the equations of classical mechanics and the other one is derived from Denavit-Hartenberg formalism and Lagrangian mechanics. The obtained models were used to design the control of the quadcopter motion on one rotation axis. The paper also offers some details of the physical and software implementation of the system on which tests have been made.

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来源期刊

2015 19th International Conference on System Theory, Control and Computing (ICSTCC)

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