Modeling of Four Axis Aircraft Trajectory Tracking System Based on PID Controller

Guanglei Zhang ； Linhui Wang

《International Core Journal of Engineering》 7卷12期 (2021/12) Pp. 612-618

https://doi.org/10.6919/ICJE.202112_7(12).0085

摘要

Four axis aircraft is an unmanned aircraft with four propellers, which can take off or land in a limited space. In order to realize the positioning flight of four axis aircraft, the trajectory tracking system model of four axis aircraft is designed. Firstly, the Newton Euler method is used to create the mathematical model of four-axis aircraft based on the equation of motion and torque. Secondly, the PID controller is designed to track the given trajectory. Hover the selected model at the height of the linearization of the nonlinear model. In addition, the responses of linear and nonlinear models are analyzed, the PID controller of nonlinear model is designed, and the results are analyzed.

關鍵字

PID control ； Four axis aircraft ； Track tracking ； Nonlinear mathematical model

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