针对目前四旋翼机动控制方法效果较差的问题, 设计了一种基于非线性规划遗传算法(NPGA)优化控制量变化率的机动动作控制模型。首先, 建立了四旋翼的非线性动力学模型; 其次, 设计了机动动作最优控制模型, 并以筋斗动作为例, 建立了筋斗动作控制模型; 然后, 使用NPGA算法求解该模型, 得到最优控制量变化率序列; 最后, 将得到的筋斗动作控制量序列输入四旋翼数学模型中进行仿真验证。实验结果表明, 依据该控制量序列四旋翼可以完成预期的筋斗动作, 机动动作控制模型有效可靠。

Considering the poor effect of current quad-rotor maneuvering control methods, we proposed a maneuvering motion control model based on Nonlinear Programming Genetic Algorithm (NPGA) to optimize the change rate of control variables. Firstly, the nonlinear dynamic equation of the quad-rotor was established. Secondly, the optimal control model of the maneuvering action was designed, and the control model of the somersault action was established taking the somersault action as an example. Then, the NPGA algorithm was used to solve the model, and the change rate sequence of the optimal control variable was obtained. Finally, the obtained control instruction sequence was imported to the quad-rotor mathematic model for simulation. The experimental results show that, the quad-rotor can complete the expected somersault action according to the control instruction sequence, and the maneuvering control model is effective and reliable.