前言
第 1章绪论 ···································································1
1.1 大型固定翼无人机····································································· 1
1.1.1 固定翼无人机结构介绍 ·························································· 1
1.1.2 飞行控制系统的分类 ····························································· 3
1.1.3 固定翼飞控系统的发展历程····················································· 5
1.1.4 固定翼飞控系统的组成 ·························································· 9
1.2 小型无人机 ··········································································· 12
1.2.1 无人机的分类···································································· 12
1.2.2 旋翼无人机的发展历程 ························································ 14
1.2.3 旋翼无人机的系统组成 ························································ 19
1.2.4 固定翼无人机的发展历程······················································ 33
1.2.5 固定翼无人机的系统组成······················································ 35
1.3 控制算法研究现状 ·································································· 49
1.3.1 经典控制方法···································································· 49
1.3.2 非线性控制方法 ································································· 51
1.3.3 现代控制方法···································································· 57
1.3.4 智能控制方法···································································· 63
第 2章小型无人机控制理论基础 ······································· 68
2.1 PID控制器的基本特性 ···························································· 68
2.1.1 PID控制器概述 ································································· 68
2.1.2 P、PI、PD、PID控制的定义················································· 69
2.1.3 PID控制器的伯德图···························································· 71
2.2 PID控制器的设计和参数调节的基本方法 ····································· 77
2.2.1 PI、PD、PID控制器的设计 ·················································· 77
2.2.2 参数调节方法分类 ······························································ 90
2.3 串级 PID控制器的设计和参数调节的基本方法······························· 98
2.3.1 串级 PID控制器的结构和实例 ··············································· 98
2.3.2 串级 PID控制器参数调节的基本原则······································ 102
2.4 抗饱和积分的改进设计 ··························································· 102
2.4.1 积分饱和现象及负面影响····················································· 102
2.4.2 防止积分饱和的基本方法····················································· 104
2.5 微分环节的改进设计 ······························································ 109
2.5.1 微分环节的特性 ································································ 109
2.5.2 抑制微分环节负面影响的方法··············································· 110
2.6 多输入多输出线性定常系统的极点配置设计方法···························· 116
2.6.1 常用的反馈结构及其对系统特性的影响 ··································· 117
2.6.2 单输入单输出系统的极点配置··············································· 123
2.6.3 多输入多输出系统的极点配置··············································· 127
第 3章飞机飞行动力学基础 ············································138
3.1 固定翼无人机飞行动力学基础 ··················································· 138
3.1.1 固定翼无人机的基本性能····················································· 138
3.1.2 纵向 /横向 /航向静稳定性与操纵性 ······································· 139
3.1.3 坐标系及坐标系转换 ·························································· 142
3.1.4 固定翼无人机刚体运动方程·················································· 144
3.1.5 刚体运动方程线性化 ·························································· 147
3.1.6 气动力及气动力矩计算 ······················································· 147
3.2 多旋翼无人机飞行动力学基础··················································· 150
3.2.1 多旋翼无人机飞行原理 ······················································· 150
3.2.2 坐标系定义与转换矩阵 ······················································· 151
3.2.3 四旋翼无人机系统整体分析·················································· 154
3.2.4 动力系统建模··································································· 154
3.2.5 刚体动力学与运动学方程····················································· 159
3.2.6 控制效率与控制分配模型····················································· 160
3.2.7 动力学与运动学方程线性化·················································· 161
第 4章飞行控制律设计 ··················································163
4.1 固定翼无人机飞行控制律设计 ··················································· 163
4.1.1 固定翼无人机飞行控制系统概述 ············································ 163
4.1.2 L1制导控制器设计 ···························································· 164
4.1.3 总能量控制器设计 ····························································· 166
4.1.4 串级 PID姿态控制器设计 ···················································· 169
4.2 多旋翼无人机飞行控制律设计··················································· 171
4.2.1 多旋翼无人机飞行控制系统概述 ············································ 171
4.2.2 四旋翼飞行控制系统架构····················································· 173
4.2.3 PID控制器设计 ································································ 173
4.2.4 LQR控制器设计 ······························································· 176
4.2.5 滑模控制器设计 ································································ 181
第 5章飞行控制硬件系统设计 ·········································186
5.1 需求分析············································································· 186
5.2 处理器选型·········································································· 187
5.2.1 嵌入式系统简介 ································································ 188
5.2.2 英特尔微处理器 ································································ 192
5.2.3 ARM微处理器 ································································· 196
5.3 电源系统 ············································································ 199
5.3.1 线性稳压器······································································ 200
5.3.2 开关式稳压器··································································· 203
5.4 姿态信息测量······································································· 213
5.4.1 微机电系统技术简介 ·························································· 213
5.4.2 MEMS加速度计 ······························································· 219
5.4.3 MEMS陀螺仪 ·································································· 230
5.5 空气动力学参量的测量 ··························································· 240
5.5.1 气压高度计······································································ 240
5.5.2 空速计 ··········································································· 244
5.6 导航信息测量······································································· 248
5.6.1 地磁计 ··········································································· 248
5.6.2 全球导航卫星系统 ····························································· 257
第 6章飞行控制律仿真实践 ············································266
6.1 飞行控制律仿真环境简介························································· 266
6.1.1 MATLAB及其仿真简介 ······················································ 266
6.1.2 仿真集成环境 Simulink ······················································· 269
6.2 固定翼无人机飞行控制律仿真实践 ············································· 271
6.2.1 固定翼无人机动力学模型搭建··············································· 271
6.2.2 非线性动力学模型配平与线性化 ············································ 275
6.2.3 姿态控制律仿真模型搭建与测试 ············································ 281
6.2.4 位置轨迹跟踪控制律仿真模型搭建与测试 ································ 284
6.3 多旋翼无人机飞行控制律仿真实践 ············································· 290
6.3.1 动力系统 Simulink模型搭建 ················································· 291
6.3.2 无人机六自由度刚体模型搭建··············································· 292
6.3.3 动力学模型配平与开环仿真·················································· 295
6.3.4 PID控制律仿真模型搭建与测试 ············································ 297
6.3.5 LQR控制律仿真模型搭建与测试 ··········································· 299
6.3.6 滑模控制律仿真模型搭建与测试 ············································ 302
第 7章飞行控制系统硬件在环仿真实践 ······························306
7.1 硬件在环仿真系统简介···························································· 306
7.1.1 硬件在环仿真与软件在环仿真对比 ········································· 306
7.1.2 硬件在环仿真系统架构 ······················································· 306
7.1.3 PX4-Autopilot软件系统简介················································· 307
7.2 硬件在环仿真环境搭建 ··························································· 329
7.2.1 Ubuntu桌面 HITL仿真环境搭建············································ 329
7.2.2 Simulink中 HITL仿真的环境配置·········································· 334
7.3 硬件在环仿真测试与参数调整··················································· 338
7.3.1 Ubuntu桌面 HITL仿真流程 ················································· 338
7.3.2 Simulink中 HITL仿真的设置和操作流程 ································· 345
附录术语表 ································································352
参考文献 ······································································355