基于双向电机驱动的四旋翼机动飞行控制

The position and attitude control of Quadrotor Unmanned Aerial Vehicle (QUAV) determines its maneuverability. First, to overcome the mobility defect of the under-actuated system, the dynamic model of bi-directional-motor-driven QUAV based on quaternion is presented, including the analysis on omnidirectional movement process. The attitude and position controllers and QUAV's control allocation matrix are illustrated. Then, considering the vertical x-z plane model custom-built for the new QUAV, the optimal planning tool is used to propose the maneuvering flight trajectory generation method suitable for QUAV by setting reasonable parameters and restrictions. The trajectories are produced but not limited within flip, vertical roll and point-to-point. The thrust and torque outputs are optimal to achieve rapidity under the conditions above. Finally, a QUAV simulation environment with circuit, electronic speed controllers, motors, blades and frames is established. By evaluating the results of simulation, this paper demonstrates that compared with unidirectional-rotor-driven QUAV, the bi-directional-motor-driven one effectively improves the accuracy of attitude and position tracking and promotes maneuverability.