收稿日期: 2016-11-03
修回日期: 2016-11-30
网络出版日期: 2017-05-30
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
Received date: 2016-11-03
Revised date: 2016-11-30
Online published: 2017-05-30
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 . DOI: 10.3969/j.issn.0255-8297.2017.03.013
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
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