Frequency-domain Identification Modeling and Control Design of a Quadrotor in Forward Flight

GUO Kaiyang; LIN Defu; YANG Dan; ZHANG Yi; LIU Xuhan; WANG Hui

doi:10.15892/j.cnki.djzdxb.2022.03.004

Journal of Projectiles, Rockets, Missiles and Guidance >

2022 , Vol. 42 >Issue 3: 16 - 23

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2022.03.004

Frequency-domain Identification Modeling and Control Design of a Quadrotor in Forward Flight

GUO Kaiyang ¹^,² ,
LIN Defu ¹^,² ,
YANG Dan ³ ,
ZHANG Yi ⁴ ,
LIU Xuhan ⁴ ,
WANG Hui ¹^,²

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¹ School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
² Beijing Key Laboratory of UAV Autonomous Control, Beijing Institute of Technology, Beijing 100081, China
³ Technology Center, Southwest Computer Co., Ltd., Chongqing 400060, China
⁴ Xi’an Modern Control Technology Research Institute, Xi’an 710065, China

Received date: 2021-12-16

Online published: 2025-02-03

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Abstract

Both characteristics and parameters of quadrotor dynamics in forward flight are different from that in hovering, generating that the controller performance designed at hovering equilibrium is difficult to meet the rapidity and stability requirements in maneuvering missions. Meanwhile, there is also a lack of parameters tuning methods with theoretical support. Aiming at these problems, the paper proposes a frequency-domain identification modeling and control design method for a quadrotor in forward-flight state. The accurate forward dynamics is modeled based on the principles and experiments of frequency-domain system identification. Then combining the pole placement with frequency-domain analysis, an attitude control design scheme for the overall loop is introduced to derive the analytical expressions and tuning results of PID controller. The numerical simulations and flight experiments are carried out to demonstrate the strong stability and well transient behavior of the proposed work, and it can track the desired instructions accurately. In general, its control performance is better than conventional controllers, which are designed and tuned manually in hovering state.

Key words： quadrotor; forward-flight state; system identification modeling; control design; pole placement analysis

Cite this article

GUO Kaiyang , LIN Defu , YANG Dan , ZHANG Yi , LIU Xuhan , WANG Hui . Frequency-domain Identification Modeling and Control Design of a Quadrotor in Forward Flight[J]. Journal of Projectiles, Rockets, Missiles and Guidance, 2022 , 42(3) : 16 -23 . DOI: 10.15892/j.cnki.djzdxb.2022.03.004

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