基于鲁棒补偿的四旋翼飞行器设计与实现

doi:10.3969/j.issn.0255-8297.2017.03.013

应用科学学报 ›› 2017, Vol. 35 ›› Issue (3): 394-404.doi: 10.3969/j.issn.0255-8297.2017.03.013

• 信号与信息处理 • 上一篇

基于鲁棒补偿的四旋翼飞行器设计与实现

荆丹翔, 韩军, 王冠宇, 周晗昀, 武建勇, 陈桂辉

浙江大学海洋学院, 浙江舟山 316021

收稿日期:2016-11-03 修回日期:2016-11-30 出版日期:2017-05-30 发布日期:2017-05-30
作者简介:荆丹翔，博士生，研究方向：嵌入式系统、多目标跟踪、海洋牧场，E-mail：jingdxiang@zju.edu.cn;韩军，教授，博导，研究方向：水下信息工程、水下信号探测、传送、处理与三维可视化及水产声学，E-mail：jhan@zju.edu.cn
基金资助:
浙江省“钱江人才计划”基金（No.2013R10023）资助

Design and Implementation of a Four-Rotor Drone Based on Robust Compensator

JING Dan-xiang, HAN Jun, WANG Guan-yu, ZHOU Han-yun, WU Jian-yong, CHEN Gui-hui

Ocean College, Zhejiang University, Zhoushan 316021, Zhejiang Province,China

Received:2016-11-03 Revised:2016-11-30 Online:2017-05-30 Published:2017-05-30

摘要/Abstract

摘要：

针对现有水域环境监测手段的不足，提出了一种基于四旋翼飞行器的水域环境监测方法。该飞行器可以在水面上空航拍，也可以悬停于水面或滑水飞行，并能将摄像头和环境监测传感器浸没水中进行实时监测。在设计了基于鲁棒补偿的姿态控制器和基于PID控制的位置控制器的基础上，搭建了系统样机，完成了飞行器定点悬停与水面滑水飞行的测试，并通过搭载的防水摄像头和传感器结合无线模块实现了水下环境的实时监测。

关键词: 四旋翼飞行器, 环境监测, 控制器

Abstract:

In view of the shortage of the means for water environment monitoring, a monitoring method using four-rotor drones is proposed. The drone can fly above the water to obtain aerial videos, and also hover and ski over the water with the camera and monitoring sensors submerged underwater for real-time monitoring. An attitude controller based on robust compensation and a position controller based on PID method are designed. With the constructed prototype drone, hovering and water skiing tests were conducted. A waterproof camera and other sensors combined with wireless modules were used to realize real-time monitoring of the underwater environment.

Key words: controller, environment monitoring, four-rotor drone

中图分类号:

TP274

荆丹翔, 韩军, 王冠宇, 周晗昀, 武建勇, 陈桂辉. 基于鲁棒补偿的四旋翼飞行器设计与实现[J]. 应用科学学报, 2017, 35(3): 394-404.

JING Dan-xiang, HAN Jun, WANG Guan-yu, ZHOU Han-yun, WU Jian-yong, CHEN Gui-hui. Design and Implementation of a Four-Rotor Drone Based on Robust Compensator[J]. Journal of Applied Sciences, 2017, 35(3): 394-404.

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基于鲁棒补偿的四旋翼飞行器设计与实现

Design and Implementation of a Four-Rotor Drone Based on Robust Compensator

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