垂直起降无人机的自适应 PID 控制器研究

Research on Adaptive PID Controller for VTOL Tailsitter UAV

李建伟

11749214

硕士

航天工程

王建春

2019-05-28

2019-07-20

哈尔滨工业大学

深圳

垂直起降无人机不仅可以像固定翼无人机一样远距离快速飞行，也可以像旋翼机一样垂直起降方便，发展前景十分广阔。但目前对垂直起降无人机的研究尚不完备。本文通过调研了国内外无人机的市场需求，选择了尾座式垂直起降无人机作为研究对象，推导了其飞行动力学方程，并结合实验测算了不同螺旋桨转速对 其后方气流速度的影响。同时调研了多种垂直起降无人机的 PID 控制方法，选择 了串级 PID 控制，通过 simulink 搭建尾座式垂直起降无人机的混控模型仿真平台。 在所搭建的模型中分别对三个姿态通道和三个位置通道输入单位阶跃信号，调节 PID参数，观察其单位阶跃响应，同时观察螺旋桨和舵面的变化，所得到的单位阶 跃响应都能快速收敛稳定，且超调量很小，几乎无震荡，证明了所设计的飞行控制器具有良好的稳定性，并结合真实飞行数据验证了模型的准确性。此外还对不 同 PID 参数对尾座式垂起无人机稳定性的影响进行了分析，包括姿态控制器和位 置控制器的各个通道的 PID 参数优化设计，研究其不同变化趋势和不同变化幅度 对无人机各个通道稳定性的影响程度，总结了尾座式垂起无人机各通道稳定性调节规律，为以后的飞行测试提供了良好的调参指示。

Vertical take-off and landing (VTOL)unmanned aerial vehicle(UAV)combine the characteristicsoflongrange,fastspeed,longenduranceoffixed-wingUAVandconvenient verticaltake-offandlandingofrotary-wingUAV.Ithasbroadprospectsfordevelopment. Butatpresent,theresearchonverticaltake-offandlandingUAVisnotcomplete. Based on the investigation of UAV demand in domestic and overseas market, this thesis selects the tail-sitter vertical take-off and landing UAV as the research object, deduces its flight dynamicsequation,andcalculatestheinfluenceofdifferentpropellerrotationalspeedon theairflowvelocityattherearoftheaircraft. Atthesametime,thePIDcontrolmethods of various vertical take-off and landing UAVs are investigated. The serial PID control is selected,andthesimulationplatformofthehybridcontrolmodelofthetailstockvertical take-offandlandingUAVisconstructedbySimulink. Inthemodel,threeattitudechannels andthreepositionchannelsareenteredintotheunitstepsignal. ThePIDparametersare adjusted, the step response is observed, and the change of propeller and rudder surface is observed. I find that the unit step response can be quickly convergent and stable, and the overshoot is very small, almost no oscillation. It is proved that the designed flight controllerhasgoodstabilityandtheaccuracyofthemodelisverifiedbythecombination of real flight data. In addition, the influence of different PID parameters on the stability of tailstock vertical UAV is analyzed, including the optimal design of PID parameters of each channel of attitude controller and position controller, and the influence degree of different changing trends and different variation amplitude on the stability of UAV channelsisstudied. TheStabilityRegulationlawofeachchannelofthetail-seatvertical UAVissummarized,whichprovidesagoodparameterindicationforthefutureflighttest.

尾座式无人机 垂直起降 PID 控制 稳定性

tail-sitterUAV VTOL PIDcontrol stability

中文

联合培养

南方科技大学

李建伟. 垂直起降无人机的自适应 PID 控制器研究[D]. 深圳. 哈尔滨工业大学,2019.