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由双向电子速度控制器驱动的四旋翼飞行器的控制方法。

The control method of a quadrotor driven by bidirectional electronic speed controllers.

作者信息

Xu Lihao, Cai Zhiduan, Wang Yuling, Shen Zhongyi

机构信息

School of Intelligent Manufacturing, Huzhou College, Xueshi Rd.1, Huzhou, Zhejiang, China.

Huzhou Key Laboratory of Green Energy Materials and Battery Cascade Utilization, Xueshi Rd.1, Huzhou, Zhejiang, China.

出版信息

Sci Rep. 2024 Aug 22;14(1):19532. doi: 10.1038/s41598-024-70681-3.

DOI:10.1038/s41598-024-70681-3
PMID:39174683
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11341809/
Abstract

In this paper, a dynamic quadrotor unmanned aircraft vehicle driven by bidirectional electronic speed controllers is proposed to enhance maneuverability and stability. Bidirectional electronic speed controllers are applied to achieve rapid deceleration of motors during flight. To match with bidirectional electronic speed controllers, fractional order Proportional-Integral-Derivative (PID) controllers are considered to attain better rapidity compared to PID controllers, and an innovative control allocation matrix with direction symbols is developed. The model, controllers, and allocation methods have been proven an effective scheme in simulations of attitude and position tracking.

摘要

本文提出了一种由双向电子速度控制器驱动的动态四旋翼无人机，以提高其机动性和稳定性。采用双向电子速度控制器来实现飞行过程中电机的快速减速。为了与双向电子速度控制器相匹配，考虑采用分数阶比例积分微分（PID）控制器，以获得比PID控制器更好的快速性，并开发了一种带有方向符号的创新控制分配矩阵。在姿态和位置跟踪仿真中，该模型、控制器和分配方法已被证明是一种有效的方案。

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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/0b5fe0fa867c/41598_2024_70681_Fig12_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/20eb47aa8a0b/41598_2024_70681_Fig1_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/5f6227ebbc64/41598_2024_70681_Fig2_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/499e81f39ce2/41598_2024_70681_Fig3_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/a219f63ee77a/41598_2024_70681_Fig4_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/b6e50b1a28fb/41598_2024_70681_Fig5_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/c108fc7acc26/41598_2024_70681_Fig6_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/00ef24cadb61/41598_2024_70681_Fig7_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/5366a1844048/41598_2024_70681_Fig8_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/dcb8bdd12403/41598_2024_70681_Fig9_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/f68c0d65ecbd/41598_2024_70681_Fig10_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/000d12102527/41598_2024_70681_Fig11_HTML.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/db6b/11341809/0b5fe0fa867c/41598_2024_70681_Fig12_HTML.jpg

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本文引用的文献

1
An Actuator Allocation Method for a Variable-Pitch Propeller System of Quadrotor-based UAVs.一种基于四旋翼无人机的变距螺旋桨系统的舵机分配方法。
Sensors (Basel). 2020 Oct 2;20(19):5651. doi: 10.3390/s20195651.
2
Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAV.四旋翼无人机的新型模糊 PID 型迭代学习控制。
Sensors (Basel). 2018 Dec 21;19(1):24. doi: 10.3390/s19010024.