基于微分跟踪器的共轴反桨无人机串级TD-PID控制算法

王思孝,赵文军,张浩,高永,李普森

Cascade TD-PID control algorithm for coaxial anti-propeller unmanned aerial vehicle based on tracking differentiator

Si-xiao WANG,Wen-jun ZHAO,Hao ZHANG,Yong GAO,Pu-sen LI

表 1 共轴反桨无人机设计指标

Tab.1 Coaxial anti-propeller UAV design index

指标 指标值 指标 指标值 mmax/kg ≤15 Hmax/m 10 meff/kg 2 vmax/(m·s−1) 20 L/mm ≤1 200 θmax/(°) 俯仰/横滚：−15~15 偏航：−90~90 R/mm ≤160 θerr/(°) ±1