本科毕业设计(论文)
题目：四旋翼无人机与移动平台交会的运动
控制与仿真
四旋翼无人机与移动平台交会的运动控制与仿真
摘要
四旋翼无人机是一种具有六个自由度和四个输入的欠驱动强耦合、外型新颖
结构简单的飞行器。由于其具有制造成本地、重量轻、体积小、操作简单、使用
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方便、隐身性好、对作战环境要求低的特点，使其能准确、高效的执行各种军事
或民用任务，因此四旋翼无人机具有一定的军事和民用价值。本课题针对四旋翼
无人机的特点和飞行原理，对其动力学分析以及运动控制的研究，利用牛顿—欧
拉方程，建立了四旋翼无人机的动力学模型,并针对该模型设计了 PID 四通道控
制系统,且在 Matlab/Simulink 仿真平台上,利用 PID 控制系统对四旋翼无人机
进行仿真，完成了对四旋翼无人机运动控制和与地面运动物体的交会，仿真结果
表明：仅仅通过改变四只旋翼的转速来改变升力，进而改变四旋翼无人机的姿态
控制和位置控制，从而实现了四旋翼无人机的运动控制以及与地面运动物体的交
会。
首先，介绍四旋翼无人机的研究现状以及研究的目的和意义。
其次，通过对四旋翼无人机的特点、运动方式的分析和建模方法研究，建立
了六自由度四旋翼动力学模型，并详细分析了其动力学特性，得出了动力学方程。
再次，对 PID 的基本理论知识进行了深入研究。
最后，对 matlab 下的 Simulink 仿真软件做了部分介绍，并利用 PID 控制算
法在 Simulink 建立了四旋翼无人机的姿态和位置控制仿真模型。仿真结果表明
利用 PID 控制算法的有效性。
关键词：四旋翼无人机，动力学模型，PID，运动控制，交会
四旋翼无人机与移动平台交会的运动控制与仿真
Abstract
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The four-rotor unmanned aerial vehicle (UAV) is a vehicle with six degrees of
freedom and four inputs that are less powerful and less flexible. Because of its
manufacturing cost, light weight, small size, simple operation, easy to use, stealth
good, low requirements of the combat environment, so that it can accurately and
efficiently perform a variety of military or civilian tasks, so the four rotor
Man-machine has a certain military and civilian value.In this paper, the dynamic
model of the four-rotor unmanned aerial vehicle (UAV) is established by using the
Newton-Euler equation for the characteristics and flight principle of the four-rotor
unmanned aerial vehicle (UAV), and the kinetic analysis and motion control. PID
four-channel control system, and on the Matlab / Simulink simulation platform, the
PID control system is used to simulate the four-rotor unmanned aerial vehicle, and the
motion control of the four-rotor unmanned aerial vehicle and the intersection with the
ground moving object are completed. The simulation results show that: Only by
changing the speed of the four rotor to change the lift, and then change the four-rotor
UAV's attitude control and position control, in order to achieve the four-rotor
unmanned aerial motion control and rendezvous with the ground moving objects.
Firstly, the research status of four rotor unmanned aerial vehicles (UAVs) and the
purpose and significance of the research are introduced.
Secondly, through the analysis of the characteristics of the four-rotor unmanned
aerial vehicle, the analysis of the movement mode and the modeling method, a
six-degree-of-freedom four-rotor dynamic model is established, and its dynamic
characteristics are analyzed in detail, and the dynamic equation is obtained.
Again, the basic theoretical knowledge of PID has been studied in depth.
Finally, the Simulink simulation software under Matlab is introduced in detail,
and the simulation model of four-rotor UAV's attitude and position control is
established by using PID control algorithm in Simulink. The simulation results show
that the PID control algorithm is effective.
Key words: four - rotor unmanned aerial vehicle, kinetic model, PID, motion
control, rendezvous
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目 录
摘要 ....................................................................................................................................................I
Abstract ............................................................................................................................................II
1 绪论..............................................................................................................................................1
1.1 课题研究背景.....................................................................................................................1
1.2 国内外相关研究情况.........................................................................................................2
1.2.1 国外研究状况..........................................................................................................2
1.2.2 国内研究状况..........................................................................................................3
1.3 四旋翼飞行器控制的研究目的和意义.............................................................................4
1.4 四旋翼无人机的主要发展趋势.........................................................................................4
1.5 本文研究的主要内容以及结构安排.................................................................................5
2 四旋翼无人机的原理及数学建模................................................................................................6
2.1 四旋翼无人机的控制原理.................................................................................................6
2.1.1 四旋翼无人机的结构..............................................................................................6
2.1.2 四旋翼无人机的基本原理......................................................................................7
2.1.3 四旋翼无人机的运动状态......................................................................................7
2.2 坐标系及坐标转换.............................................................................................................9
2.2.1 常用坐标系..............................................................................................................9
2.2.2 姿态角的定义.........................................................................................................10
2.2.3 坐标转换................................................................................................................11
2.3 四旋翼的姿态更新算法...................................................................................................12
2.3.1 欧拉角法................................................................................................................12
2.3.2 方向余弦法............................................................................................................13
2.4 四旋翼无人机的动力学模型建立...................................................................................13
2.5 本章小结...........................................................................................................................17
3 PID 控制算法理论 .......................................................................................................................18
3.1 PID 控制原理 ....................................................................................................................18
3.2 阶跃响应...........................................................................................................................20
3.3 PID 几种控制方法 ............................................................................................................20
