| 四旋翼无人机速度控制系统设计 |
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| 引用本文： | 陈金辉,潘佳笛,王伟. 四旋翼无人机速度控制系统设计[J]. 应用声学, 2015, 23(6) |
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| 作者姓名： | 陈金辉 潘佳笛 王伟 |
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| 作者单位： | 南京信息工程大学 信息与控制学院,南京信息工程大学 信息与控制学院,南京信息工程大学 信息与控制学院 |
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| 摘 要： | 微小型多旋翼无人机在气象监测、低空侦查、灾区救援等领域中具有广泛的应用。在无人机姿态控制的基础上设计速度控制系统,该速度控制系统采用加速度计、角速率陀螺仪和GPS测量数据,并设计卡尔曼滤波器来抑制传感器噪声,同时估计无法测得的状态变量。为了减小无人机的建模误差并提高控制系统鲁棒性,采用了模型参考滑模控制理论(Model Reference Sliding Mode Control,MRSMC)设计速度控制器。
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| 关 键 词： | 四旋翼无人机 速度控制系统 卡尔曼滤波器 模型参考滑模控制 |
velocity Control System Design for Quad-rotor UAV |
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| Wang Wei. velocity Control System Design for Quad-rotor UAV[J]. Applied Acoustics(China), 2015, 23(6) |
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| Authors: | Wang Wei |
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| Affiliation: | School of information and control,Nanjing University of Information Science Technology,,School of information and control,Nanjing University of Information Science Technology |
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| Abstract: | Micro and small multi-rotor UAV has a wide application in weather monitoring , low-altitude detection, disaster relief and other areas. Based on the completion of the UAV attitude control design velocity control system, the velocity control system uses accelerometers, angular rate gyroscope and GPS to measure data and design Kalman filter to suppress sensor noise , simultaneously estimate state variables which can not be measured. To reduce the modeling error and improve the robustness of the control system , using a model reference sliding mode control theory (Model Reference Sliding Mode Control, MRSMC) design velocity controller. |
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| Keywords: | Quad-rotor UAV velocity control system Kalman filter MRSMC |
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