论文标题
四极管的经典和最佳控制器之间的比较研究
A Comparative Study Between a Classical and Optimal Controller for a Quadrotor
论文作者
论文摘要
本文提出了两个基于模拟的控制器，一个经典控制器和线性二次调节器（LQR）（最佳控制器）的基于仿真的比较，用于线性化的四极管模型。为了简化二次运动的原本复杂的动态模型，我们使用牛顿和欧拉定律得出了线性数学模型，并应用了物理学的基本原理。该派生给出了控制四个运动的运动的方程式，既涉及身体框架和惯性框架。开发了一个状态空间模型，然后将其用于模拟四极管的控制算法。除了经典的PID控制算法外，LQR是最佳的控制调节器，对于四极管，它更强大。在相同的初始条件下，在Simulink中模拟了两个控制器，并显示令人满意的响应。
This paper presents a simulation-based comparison between the two controllers, Proportional Integral Derivative (PID), a classical controller and Linear Quadratic Regulator (LQR), an optimal controller, for a linearized quadrotor model. To simplify an otherwise complicated dynamic model of a quadrotor, we derive a linear mathematical model using Newtonian and Euler's laws and applying basic principles of physics. This derivation gives the equations that govern the motion of a quadrotor, both concerning the body frame and the inertial frame. A state-space model is developed, which is then used to simulate the control algorithms for the quadrotor. Apart from the classic PID control algorithm, LQR is an optimal control regulator, and it is more robust for a quadrotor. Both the controllers are simulated in Simulink under the same initial conditions and show a satisfactory response.
