文中对四旋翼无人机进行建模与控制。在建模时采用机理建模和实验测试相结合的方法，尤其是对电机和螺旋桨
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发布时间：2022-04-27 05:08
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时间：2023-09-11 13:56
In this paper, the four rotor UAV modeling and control. Mechanism modeling and experimental testing method combining when modeling, especially for a motor and propeller has carried on the detailed modeling. First on the application of PID model built by the control of the attitude angle. On the basis of this, in all directions of the velocity of the PlD control. PID control is then offset in the four rotor aircraft center of gravity of the situation, the simulation results show that PID control law can effectively control four rotor UAV in the center of gravity offset case of attitude angle and speed. Finally, in order to facilitate the control of adding the control logic.
