广西师范大学学报（自然科学版） ›› 2010, Vol. 28 ›› Issue (3): 198-203.

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基于人手遥控学习的旋翼飞行机器人控制研究

伊嘉瑞1,2, 吴成东1,3, 赵新刚2   

  1. 1.沈阳建筑大学信息与控制工程学院,辽宁沈阳110168;
    2.中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016;
    3.东北大学信息科学与工程学院,辽宁沈阳110004
  • 收稿日期:2010-05-10 出版日期:2010-09-20 发布日期:2023-02-06
  • 通讯作者: 赵新刚(1978—),男,山东泰安人,沈阳自动化研究所副研究员。E-mail:zhaoxingang@sia.cn
  • 基金资助:
    国家自然科学基金资助项目(60705028)

Control Methodology for Rotary Wing Flying Robots Based on Study of Hand Tele-operation

YI Jia-rui1,2, WU Cheng-dong1,3, ZHAO Xin-gang2   

  1. 1. College of Information and Control Engineering,Shenyang Jianzhu University,Shenyang Liaoning 110168,China;
    2. The State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences, Shenyang Liaoning 110016,China;
    3. School of Information Science and Engineering,Northeastern University, Shenyang Liaoning 110004,China
  • Received:2010-05-10 Online:2010-09-20 Published:2023-02-06

摘要： 传统旋翼飞行机器人控制方法首先需要建立本体的动力学模型,然后根据该模型进行控制器设计。但由于旋翼飞行机器人系统具有强非线性,很难得到精确模型,因此增加了控制器的设计难度。本文以人的遥控过程为研究对象分析熟练操作手和不熟练操作手两类人进行操作的过程,分别设计了可反映操作手能力水平的熟练控制器和不熟练控制器,通过分析比较建立了具有熟练操作手特点的旋翼飞行机器人单通道PD控制系统。仿真实验表明,该控制器可以使旋翼飞行机器人在悬停、前飞和侧飞3种状态下实现姿态稳定控制。

关键词: 旋翼飞行机器人, 遥控操作, 人手遥控学习, PD控制

Abstract: Conventionally,control methods on rotary wing flyingrobot need to establish its body dynamics model,and then design the controller.However,due tothe strong nonlinearity characteristics of rotary wing flying robot system,itis always difficult to get the exact model which increases the hardness of controller design.This research focuses on the process of people's tele-operation behavior,analyze the manipulating process of skilled and unskilledmanipulator,and establishes controller respectively that can scale the proficiency of the manipulators.Analysis and comparison of the two controllers were carried out,then a single-channel PD control system for rotary wing flying robot with skilled manipulator characteristics was established.Simulation results show that the PD controller can realize the posture stability control in three kinds of state of rotary wing flying robot including hovering,forward flight,and lateral flight.

Key words: rotary wing flying robot, tele-operation, study of hand tele-operation, PD control

中图分类号: 

  • TP242
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