针对四旋翼飞行器姿态与位置的解耦控制, 提出了一种动态逆控制与PID结合的混合控制策略。首先, 将四旋翼当作单刚体, 通过牛顿-欧拉方程获得其非线性动力学模型。其次, 用动态逆控制设计内回路控制器, 用PID控制设计外回路控制器, 实现姿态与位置通道的解耦控制。最后, 在仿真环境下, 通过阶跃响应和跟踪上升螺旋线检验了所提控制算法的稳定性与有效性。同时, 将控制算法写入飞行控制器, 通过飞行实验验证了所提控制算法的实用性。结果表明, 所提控制算法对外界扰动与未建模动态有较好的抑制能力, 能够满足四旋翼飞行器姿态控制与位置控制的需求。

Aiming at the decoupling control of the attitude and position of the quad-rotor aircrafts, a hybrid control strategy combining Dynamic Inversion Controller (DIC) with PID controller was proposed. Firstly, the quad-rotor model was taken as a single rigid body, and its nonlinear dynamic model was built through Newton-Euler equation. Then, we used the DIC theory to design the inner-loop controller, and the PID control theory to design the outer-loop controller. And thus the decoupling control of the attitude and position was realized. Finally, step response and upward spiral curve tracking were used to verify the stability and effectiveness of the proposed control strategy in the simulation. Meanwhile, the control code was written into the flight control system. The feasibility of the control algorithm was tested through flight tests. The results show that the proposed control algorithm can strongly resist the uncertain model dynamics and external disturbances, and it can satisfy the requirements of the attitude control and position control for the quad-rotor aircrafts.