多旋翼飞行器建模与控制器设计

随着各项技术的日趋成熟,多旋翼飞行器的控制器设计也愈发受到重视.为了使四旋翼飞行器在复杂环境下可以进行稳定的飞行,设计了四旋翼无人机飞行器的控制器,根据实际情况对数学模型进行简化,建立了一个四旋翼飞行器运动的数学模型;在Simulink中搭建比例积分微分(proportion integration differentiation,PID)控制模型,实现串级PID控制,通过调整PID参数,初步实现了使其稳定飞行的目标.通过在Simulink上搭建系统模型并最终得出仿真结果,证明飞行器的姿态和位置都得到了稳定的控制.

Research on incident edge detection technology of sensor network for environment monitoring

With the development of various technologies, more and more attention has been paid to the controller design of multi rotor aircraft. In order to make the quadrotor UAV can fly stably in complex environment, the controller of quadrotor UAV is studied and designed in this paper. According to the actual situation, the mathematical model is simplified and a mathematical model of four rotor aircraft is established. The PID control model is built in Simulink to realize the cascade PID control. By adjusting the PID parameters, the goal of stable flight is preliminarily achieved. By building the system model on Simulink and finally obtaining the simulation results, it is proved that the attitude and position of the aircraft are stably controlled.