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题名	面向抛投应用的多旋翼飞行机器人规划与控制
作者	姜军
学位类别	博士
答辩日期	2017-05-27
授予单位	中国科学院沈阳自动化研究所
授予地点	沈阳
导师	徐卫良 ; 韩建达
关键词	多旋翼机器人 驱动饱和 大范围镇定控制 轨迹跟踪控制 大初始状态
其他题名	Multicopter Flying Robot Planning and Control for Delivering Application
学位专业	机械电子工程
中文摘要	本文针对抛投应用的多旋翼控制与规划展开研究。主要研究内容包括多旋翼建模、辨识以及大初始状态下的规划及控制。 首先，建立了多旋翼（以四旋翼为例）的数学模型，对系统的关键参数进行了辨识。针对多旋翼的平衡状态点，设计LQR控制器，实施一系列大初始状态仿真实验，从中分析出大初始状态下线性控制器失效原理；针对被抛投的多旋翼是否能达到目标状态域的问题，利用可达集的方法计算了抛投四旋翼的有效状态域，并给出仿真算例。 其次，开展大初始状态下，多旋翼的镇定控制研究。为了降低理论分析的难度，将多旋翼系统的全状态模型简化为x-o-z平面内4维度的低维模型；基于此模型，提出基于广义逐点最小范数方法的抗饱和控制器；针对实际应用中对系统姿态有较高性能要求的情况，设计了一种姿态增强型控制器。最后，给出了上述两种算法的解析解，并证明了增强型算法的稳定性。 然后，为了使初步稳定的多旋翼在瞬时风扰下具有较好的轨迹跟踪效果，设计了一种内环加外环结构的控制器。采用鲁棒控制器方法设计外环控制器，并根据内外环运动学联系给出内环期望值，采用反馈线性化方法设计内环控制器，实现了瞬态扰动情况下良好的跟踪性能。 最后，对面向抛投应用的多旋翼实验平台展开研究。设计了实验验证平台的总体构成，基于上述平台，对多旋翼抛投应用展开初步探索，证明了实验平台的适用性。
英文摘要	This research focuses on the control, planning of the delivering application of the multicopter. The main contents include: the modelling of the multicopter, the identification of the critical parameters and the control and planning of the multicopter with large-initial-states. Firstly, the model of the multicopter is built. The identification of the inertial parameters of the multicopter is carried out. The LQR controller is designed at the equilibrium states, and a group of simulations based on this control algorithm were carried out. The reason of the failure of the linear controller is analysed based on the results of the simulations; To ensure the states reachability of the dropped multicopter, the reachable set method is adopted to calculate the feasible dropping states zone, and an example is given. Secondly, the first step stability of multicopter control problem with large-initial-states is studied. To reduce the difficulty of the analysis, a simplified model concerned on the x-o-z plane is extracted from the complete model; Based on this model, a generalized point-wise min-norm controller is designed to solve the actuator saturation problem. In view of the high performance requirement of the attitude in some scenarios, an attitude augmented method is designed. Finally, both of the above two algorithms are provided with analytical resolutions. The stability of the latter algorithm is proved. Thirdly, to make the multicopter have good tracking performance with gusts, an inner-outer loop controller is designed for the tracking control. The outer loop controller is a robust controller and provides the inner controller desired states of the angles. The inner loop is designed with feedback linearization method for the sake of fast respond and easy parameter tuning. The tracking controller was implemented and its performance is proved. Finally, we carried on the experimental platform for the delivering test. The whole platform is designed and built. On this platform, the elementary delivering test was carried out.
语种	中文
产权排序	1
内容类型	学位论文
源URL	[http://ir.sia.cn/handle/173321/20563]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	姜军. 面向抛投应用的多旋翼飞行机器人规划与控制[D]. 沈阳. 中国科学院沈阳自动化研究所. 2017.

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