【无人机】【2011.04】四旋翼无人机的仿真与控制

本文为美国肯塔基大学（作者：Michael David Schmidt）的硕士论文，共129页。

ANGEL项目（空中网络引导电子了望）采用系统工程方法设计、开发、测试和实施四旋翼无人机。目前在四旋翼无人飞行器领域的许多研究工作都没有采用广泛的系统方法来设计和实现。这些其他项目在模拟环境中使用预制的四旋翼平台和一系列外部传感器，这对于现实世界的使用是不可行的。

ANGEL系统是专门设计用于战斗威胁区域，它的鲁棒性和易控制性至关重要。建立了完整的ANGEL系统动力学仿真模型，并在MATLAB和Simulink中对一个定制控制器进行了调试。该控制器在硬件上进行了实现，并与必要的子系统配对，以完成ANGEL平台。初步测试表明，该系统能够运行成功，但在部署到实地之前还需要进一步的开发。为这架飞行器编写了一个定制的高级控制器，目的是让部队能够在没有专业操纵人员的情况下向平台发送命令。另一种可拆卸的飞行器也在研制中，这种飞行器能够大大提高运输效率。

The ANGEL project (Aerial Network Guided Electronic Lookout) takes a systems engineering approach to the design, development, testing and implementation of a quadrotor unmanned aerial vehicle. Many current research endeavorsinto the field of quadrotors for use as unmanned vehicles do not utilize the broad systems approach to design and implementation. These other projects use pre-fabricated quadrotor platforms and a series of external sensors in amock environment that is unfeasible for real world use. The ANGEL system was designed specifically for use in a combat theater where robustness and ease of control are paramount. A completesimulation model of the ANGEL system dynamics was developed and used to tune acustom controller in MATLAB and Simulink®. This controller was then implemented in hardware and paired with the necessary subsystems to complete the ANGEL platform. Preliminary tests show successfuloperation of the craft, although more development is required before it is deployed in field. A custom high-level controller for the craft was written with the intention that troops should be able to send commands to the platform without having a dedicated pilot. A second craft that exhibits detachable limbs for greatly enhanced transportation efficiency is alsoin development.

1.     引言
   

2.     文献回顾与研究动机
   

3.     ANGEL仿真模型
   

4.     ANGEL控制的开发
   

5.     平台实现
   

6.     测试与结果
   

7.     结论与展望
   

附录A 相关源代码
附录B CAD图纸

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