Abstract

A control algorithm based on the required differential equations of deviations is proposed to solve the problem of tracing the desired trajectory by target position. The flight path is planned on the basis of the author’s method of calculation of a flat trajectory consisting of oriented segments of straight lines connected by Euler spirals. The software and hardware complex of the automatic flight control system is presented. The operability of the control system in the presence of measurement noises and external disturbances is confirmed by the results of experiments to control the flight of a quadcopter indoors.

中文翻译：

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多旋翼飞机轨迹运动控制系统的算法与架构

摘要

提出了一种基于所需的偏差微分方程的控制算法，以解决通过目标位置跟踪期望轨迹的问题。根据作者计算平面轨迹的方法来规划飞行路径，该轨迹由欧拉螺旋连接的直线的定向线段组成。介绍了自动飞行控制系统的软硬件组合。通过控制室内四轴飞行器的飞行的实验结果证实了在存在测量噪声和外部干扰的情况下控制系统的可操作性。