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首页> 外文期刊>Journal of aerospace engineering >Development and Validation of a LQR-Based Quadcopter Control Dynamics Simulation Model
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Development and Validation of a LQR-Based Quadcopter Control Dynamics Simulation Model

机译：基于LQR的Quadcopter控制动力学模拟模型的开发与验证

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摘要

The growing applications involving unmanned aerial vehicles (UAVs) are requiring more advanced control algorithms to improve rotary-wing UAVs' performance. To preliminarily tune such advanced controllers, an experimental approach could take a long time and also be dangerous for the vehicle and the onboard hardware components. In this paper, a simulation model of a quadcopter is developed and validated by the comparison of simulation results and experimental data collected during flight tests. For this purpose, an open-source flight controller for quadcopter UAVs is developed and a linear quadratic regulator (LQR) controller is implemented as the control strategy. The input physical quantities are experimentally measured; hence, the LQR controller parameters are tuned on the simulation model. The same tuning is proposed on the developed flight controller with satisfactory results. Finally, flight data and simulation results are compared showing a reliable approximation of the experimental data by the model. Because numerous state-of-the-art simulation models are available, but accurately validated ones are not easy to find, the main purpose of this work is to provide a reliable tool to evaluate the performance for this UAV configuration.
机译：涉及无人机（无人机）的越来越多的应用需要更先进的控制算法来提高旋翼无人机的性能。为了初步调整这种先进的控制器，实验方法可能需要很长时间并且对车辆和车载硬件组件也很危险。本文通过比较仿真结果和飞行试验期间收集的实验数据，开发和验证了Quadcopter的仿真模型。为此目的，开发了一个用于二岔UVS的开源飞行控制器，并实现了线性二次调节器（LQR）控制器作为控制策略。输入物理量是通过实验测量的;因此，LQR控制器参数在仿真模型上调整。在发达的飞行控制器上提出了相同的调谐，结果令人满意。最后，比较了飞行数据和仿真结果，显示了模型的实验数据的可靠逼近。由于有许多最先进的仿真模型，但准确验证的模型不易找到，这项工作的主要目的是提供一种可靠的工具来评估此UAV配置的性能。

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