학술논문
迭代学习的四旋翼无人机重复航迹跟踪控制实验研究 / Research on repetitive trajectory tracking control experiment of quadrotor UAV with iterative learning
Document Type
Academic Journal
Author
Source
现代电子技术 / Modern Electronics Technique. 47(4):97-102
Subject
Language
Chinese
ISSN
1004-373X
Abstract
新工科建设以强化学生的工程实践与创新能力的思想为指导,为应对新的要求并推进实验实践教学改革,设计一种适应于本科生工程实践训练的四旋翼无人机飞行实验平台.该实验平台结合机械、信号处理、自动控制等学科知识,以四旋翼无人机为研究对象,分析四旋翼无人机动力模型,研究和设计迭代控制算法.采用Simulink进行仿真,以北京航空航天大学可靠飞行控制组研发的RflySim无人机模拟器平台搭建所设计的实验平台.最后,进行现场实际测试和航迹跟踪飞行测试,测试结果符合实验的预期,且航迹跟踪准确.所设计系统易于激发学生的参与兴趣,能够有效提高学生的动手能力及工程实践技能.
The construction of new engineering disciplines is guided by the idea of strengthening students′ engineering practice and innovation abilities.In order to meet new requirements and promote experimental teaching reform,a quadrotor unmanned aerial vehicle(UAV)flight experimental platform suitable for undergraduate engineering practice training is designed.This experimental platform combines knowledge from disciplines such as mechanics,signal processing,and automatic control,and focuses on the study of quadrotor UAV,with quadrotor UAV as the research object.It analyzes the power model of quadrotor UAV,and studies and designs the iterative control algorithm.The simulation is carried out on Simulink,and the designed experimental platform is built on the RflySim UAV simulator platform developed by the Reliable Flight Control Group of Beihang University.On-site practical testing and trajectory tracking flight testing were conducted,the test results meet the expectations of the experiment,and the trajectory tracking is accurate.The designed system is easy to stimulate students′ interest in participation and can effectively improve their hands-on ability and engineering practical skills.
The construction of new engineering disciplines is guided by the idea of strengthening students′ engineering practice and innovation abilities.In order to meet new requirements and promote experimental teaching reform,a quadrotor unmanned aerial vehicle(UAV)flight experimental platform suitable for undergraduate engineering practice training is designed.This experimental platform combines knowledge from disciplines such as mechanics,signal processing,and automatic control,and focuses on the study of quadrotor UAV,with quadrotor UAV as the research object.It analyzes the power model of quadrotor UAV,and studies and designs the iterative control algorithm.The simulation is carried out on Simulink,and the designed experimental platform is built on the RflySim UAV simulator platform developed by the Reliable Flight Control Group of Beihang University.On-site practical testing and trajectory tracking flight testing were conducted,the test results meet the expectations of the experiment,and the trajectory tracking is accurate.The designed system is easy to stimulate students′ interest in participation and can effectively improve their hands-on ability and engineering practical skills.