gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»10.17285/0869-7035.2015.23.4.131-146gyroscopy-427Research ArticleСтатьиМодельное управление квадрокоптерами с поворотными роторамиModel Based Control of a Quadrotor with Tiltable RotorsШольцГ.ScholzG.

Шольц Георг, научный сотрудник.

ТроммерГ. Ф.TrommerG. F.

Троммер Герт Ф., доктор наук, профессор.  Действительный член общественного объединения «Академия навигации и управления движением»

Институт оптимизации систем, г. Карлсруэ.ГерманияInstitute of Systems Optimization, KarlsruheGermanyИнститут оптимизации систем (г. Карлсруэ), Университет ИТМО (С-Петербург).ГерманияInstitute of Systems Optimization, Karlsruhe; ITMO University, St. PetersburgGermany201523122025234131146Copyright © Шольц Г., Троммер Г.Ф., 20252025Шольц Г., Троммер Г.Ф.Scholz G., Trommer G.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/427

Рассматривается квадрокоптер с поворотными роторами, который обеспечивает независимое управление по углам ориентации и скорости, что позволяет не прибегать к установке дополнительного оборудования, необходимого для наведения на желаемую точку устанавливаемых на квадрокоптер камер или лазерных дальномеров. Описаны работа системы и предложенный алгоритм управления на основе метода нелинейной обратной динамики, функционально расширенного за счет псевдоуправления методом хеджирования, что снижает влияния динамики актуатора на контур управления. Предложенный метод внедрен в алгоритм управления, влияние которого на качество работы системы продемонстрировано результатами моделирования.

Micro Aerial Vehicles (MAV) with vertical takeoff and landing capabilities such as quadrotors are often used as sensor platforms. The carried equipment like cameras or LASER range finders has to be aligned to some point of interest. In this article a modified type of a quadrotor will be presented: a quadrotor with tiltable rotors which in contrast to common quadrotors is able to perform independent velocity and attitude movements. This ability makes additional aligning equipment to move the payload redundant. After a system description, the used control algorithm based on Nonlinear Inverse Dynamics (NID) is explained. In this article an extension of this approach is presented. The pseudo control hedging method removes the influence of the actuator dynamics from the control loop. The extension and its integration into the control algorithm are explained and the influence on the quality of control is demonstrated by simulation results.

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The authors declare that there are no conflicts of interest present.