基于LabVIEW的四旋翼飞行器建模与控制仿真

摘要

通过分析四旋翼飞行器特有的机械结构和飞行原理，利用牛顿－欧拉方程，建立了四旋翼飞行器的数学模型。使用LabVIEW控制与仿真模块建立了动态数学模型，并以四个旋翼转速作为控制量，针对该模型在悬停状态时设计了一解耦PID四通道控制器分别对高度、俯仰角、横滚角和偏航角控制，在LabVIEW中进行了相应的仿真。仿真结果表明，在经过反复试凑所设定的PID参数下，控制器能够很好地跟踪高度和各姿态角的期望值，所采用的控制方法具有可行性。所述仿真方法简易可行，为可扩展的半物理仿真提供了有力的软件保障。%By analyzing the unique mechanical structure and flight principle of the quadrotor,Newton-Euler equation is used to establish the mathematic model of the quadrotor.The control and simulation module of LabVIEW is used to build the dynamic mathematic model,and the rotate speed of four propel er of the quadrotr is taken as control input.A decoupling PID four-channel control system is designed to control height,pitch angle,rol angle and yaw angle respectively according to the model in hover situation.At last the relevant simulation is accomplished.