许景辉,马贺,周建峰,田钰强,韩文霆.倾转三旋翼垂直起降无人机悬停姿态控制[J].农业机械学报,2018,49(10):16-22.
XU Jinghui,MA He,ZHOU Jianfeng,TIAN Yuqiang,HAN Wenting.Hovering Attitude Control of Tilt Rri-rotor VTOL Aircraft[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(10):16-22.
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倾转三旋翼垂直起降无人机悬停姿态控制   [下载全文]
Hovering Attitude Control of Tilt Rri-rotor VTOL Aircraft   [Download Pdf][in English]
投稿时间:2018-04-23  
DOI:10.6041/j.issn.1000-1298.2018.10.002
中文关键词:  倾转三旋翼无人机  垂直起降  串级PID  姿态控制
基金项目:国家重点研发计划项目(2017YFC0403203)、 中央高校基本科研业务费专项资金项目(2452015050)、陕西水利科技计划项目(2014slkj-18)和西北农林科技大学大学生创新创业训练计划项目(201710712040)
作者单位
许景辉 西北农林科技大学 
马贺 西北农林科技大学 
周建峰 密苏里大学 
田钰强 西北农林科技大学 
韩文霆 西北农林科技大学 
中文摘要:针对一种倾转三旋翼垂直起降(VTOL)飞行器在悬停状态下的姿态控制问题,设计了一种基于STM32系列微控制器的飞行控制系统。采用十轴组合惯性导航模块实时采集载机平台姿态信息,并结合基于四元数的互补滤波算法进行姿态信息解算。针对无人机姿态控制实时性和精度要求高的特点,采用串级PID控制算法对载机进行悬停状态下的姿态控制。实验结果表明:串级PID控制算法在悬停状态下能够对倾转三旋翼垂直起降飞行器进行快速、稳定、准确的姿态控制,并具有一定的鲁棒性。在横滚角的内环采用PD控制(Kp为8.371,Kd为3.015),外环采用PD控制(Kp为5.1,Kd为1.15);俯仰角的内环采用PD控制(Kp为3.137,Kd为1.6),外环采用PID控制(Kp为3.43,Ki为0.003,Kd为3.97);偏航角采用PI控制(Kp为9.30,Ki为0.11)时,其悬停状态下具有最优姿态控制效果。研究结果对倾转三旋翼垂直起降飞行器飞行控制的后续研究具有指导作用。
XU Jinghui  MA He  ZHOU Jianfeng  TIAN Yuqiang  HAN Wenting
Northwest A&F University,Northwest A&F University,University of Missouri,Northwest A&F University and Northwest A&F University
Key Words:tilt tri-rotor unmanned aerial vehicle  vertical take-off and landing  cascade PID  attitude control
Abstract:Aiming to the control of a tilt tri-rotor vertical take-off and landing (VTOL) aircraft, and the flight control system based on STM32 microprocessor was designed. Ten axes inertial navigation module was used to collect the real time position data and satellite navigation data of the carrier, and the attitude and location information was calculated by using fusion algorithm based on quaternion. Cascade PID control system was adopted, aiming at the real-time and high-accuracy feature of attitude control of UAV. Aiming at the unstable problem in the tilt tri-rotor VTOL aircraft, a PID controller with incomplete derivative was proposed. The controller adding a first-order inertial link in the derivative can reduce the negative effect of external interference on the system. Finally, the verify flight was carried out to test the pitch, yaw and roll motions of the aircraft. The results demonstrated that cascade PID controller with incomplete derivative can control the attitude of the tilt tri-rotor VTOL aircraft quickly, stably and accurately in helicopter mode, which had good robustness. In addition, cascade PID controller with incomplete derivative can reduce the difficulty of parameter tuning. The control system had a good performance with the setting of roll angle (inner ring Kp was 8.371, Kd was 3.015 and outer ring Kp was 5.1, Kd was 1.15), pitch angle (inner ring Kp was 3.137, Kd was 1.6 and outer ring Kp was 3.43, Ki was 0.003, Kd was 3.97), yaw angle (Kp was 9.30 and Ki was 0.11). And the controller designed could meet the performance requirements of the control system. It provided guidance for the follow-up study on flight control of the tilt tri-rotor VTOL aircraft. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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