| Now unmanned-system has a good foreground,The unmanned aerial vehicle(UAV),as a typical representative of the unmanned-system,plays an important role in the industry with its flexible,simple operation,low cost.The control technology for small UAV is mature.But for large wheelbase UAV,because of the large inertia and the effect of the motor-rotor vibration,The research on controlling technology for such objects is not yet advanced and needs deeper investigation.This thesis takes a further research on the problem of large-pitch electric four-rotor UAV with the vibration of the interference effect of unmanned aerial vehicle(UAV).we designed double-loop PID controller and fuzzy PID controller,sliding mode variable structure controller respectively,and take simulation experiments for our model.First,this thesis probes into the development of unmanned systems and the development of the large wheelbase electric multi-rotor UAVs.This thesis discusses the position occupied by the large wheelbase electric multi-rotor UAVs in the field of industrial applications.Second,this thesis explores and derives UAV’s mathematical model in the case of the large wheelbase and the vibration interference in the UAV.The mathematical model of four-rotor UAV with the vibration model was designed.Then,this thesis designs the double-loop PID controller and fuzzy PID controller of attitude,and takes simulation using PID controller of attitude and fuzzy PID controller of position.Finally,this thesis designs a sliding mode variable structure controller to improve the control performance,in view of the rotor vibration interference on the influence of the position and attitude controlling.the problem of position stability and posture stability in simulation is solved. |
