先进无人机飞行控制系统有着巨大的市场需求，智能化无人机飞行控制技术也是航空工业领域内发展迅速的前沿技术之一。本书以作者团队对小型无人机的深厚研究为基础，以真实的代码、模型以及试飞数据作为支撑，系统地讲解了小型无人机的控制系统原理与设计实现。书中不仅有传统的PID控制器设计，还引入了先进控制理论，引导读者逐步学习小型无人机飞行控制系统设计。本书由小型无人机的控制理论基础、飞行动力学基础、飞行控制律设计、飞行控制律的仿真实践、飞行控制系统硬件设计以及硬件在环仿真几部分组成，涵盖了小型无人机控制系统设计与实现的全过程。本书内容翔实、通俗易懂，不仅可以作为研究生和本科生的教材，也可以作为小型无人机研究人员的参考书。

王斑，博士，毕业于加拿大康考迪亚大学（Concordia University）机械、工业与航空航天系，现任西北工业大学航空学院副教授、硕士生导师。主要从事飞行器智能容错与自适应抗干扰安全控制研究、高速垂直起降飞行器总体设计与飞行控制研究、无人机在线自主轨迹规划与重规划研究。在飞行器可靠安全控制、主动抗干扰控制、自适应控制以及无人机避障技术等方面研究取得了创新性的理论与工程研究成果，发表SCI、EI论文28篇，成果发表于IEEE Transactions on Industrial Electronics、Mechanical Systems and Signal Processing、Aerospace Science and Technology等控制理论与航空航天相关的国际顶级期刊。多次受邀参加国内外飞行器控制相关高水平学术会议交流，担任分会主席，并做口头报告。主持国家自然科学基金、装发科研项目、教育部科研项目等国家级纵向项目5项，院所合作项目4项，主讲本科生课程三门，研究生课程一门，指导大学生创新训练项目3项。作为指导教师，获得2021年美国大学生数学建模竞赛特等奖。

前言<br />第 1章绪论 ···································································1 <br />1.1 大型固定翼无人机····································································· 1 <br />1.1.1 固定翼无人机结构介绍 ·························································· 1 <br />1.1.2 飞行控制系统的分类 ····························································· 3 <br />1.1.3 固定翼飞控系统的发展历程····················································· 5 <br />1.1.4 固定翼飞控系统的组成 ·························································· 9 <br />1.2 小型无人机 ··········································································· 12 <br />1.2.1 无人机的分类···································································· 12 <br />1.2.2 旋翼无人机的发展历程 ························································ 14 <br />1.2.3 旋翼无人机的系统组成 ························································ 19 <br />1.2.4 固定翼无人机的发展历程······················································ 33 <br />1.2.5 固定翼无人机的系统组成······················································ 35 <br />1.3 控制算法研究现状 ·································································· 49 <br />1.3.1 经典控制方法···································································· 49 <br />1.3.2 非线性控制方法 ································································· 51 <br />1.3.3 现代控制方法···································································· 57 <br />1.3.4 智能控制方法···································································· 63 <br />第 2章小型无人机控制理论基础 ······································· 68 <br />2.1 PID控制器的基本特性 ···························································· 68 <br />2.1.1 PID控制器概述 ································································· 68 <br />2.1.2 P、PI、PD、PID控制的定义················································· 69 <br />2.1.3 PID控制器的伯德图···························································· 71 <br />2.2 PID控制器的设计和参数调节的基本方法 ····································· 77 <br />2.2.1 PI、PD、PID控制器的设计 ·················································· 77 <br />2.2.2 参数调节方法分类 ······························································ 90 <br />2.3 串级 PID控制器的设计和参数调节的基本方法······························· 98 <br />2.3.1 串级 PID控制器的结构和实例 ··············································· 98 <br />2.3.2 串级 PID控制器参数调节的基本原则······································ 102 <br />2.4 抗饱和积分的改进设计 ··························································· 102 <br />2.4.1 积分饱和现象及负面影响····················································· 102 <br />2.4.2 防止积分饱和的基本方法····················································· 104 <br />2.5 微分环节的改进设计 ······························································ 109 <br />2.5.1 微分环节的特性 ································································ 109 <br />2.5.2 抑制微分环节负面影响的方法··············································· 110 <br />2.6 多输入多输出线性定常系统的极点配置设计方法···························· 116 <br />2.6.1 常用的反馈结构及其对系统特性的影响 ··································· 117 <br />2.6.2 单输入单输出系统的极点配置··············································· 123 <br />2.6.3 多输入多输出系统的极点配置··············································· 127<br />第 3章飞机飞行动力学基础 ············································138 <br />3.1 固定翼无人机飞行动力学基础 ··················································· 138 <br />3.1.1 固定翼无人机的基本性能····················································· 138 <br />3.1.2 纵向 /横向 /航向静稳定性与操纵性 ······································· 139 <br />3.1.3 坐标系及坐标系转换 ·························································· 142 <br />3.1.4 固定翼无人机刚体运动方程·················································· 144 <br />3.1.5 刚体运动方程线性化 ·························································· 147 <br />3.1.6 气动力及气动力矩计算 ······················································· 147 <br />3.2 多旋翼无人机飞行动力学基础··················································· 150 <br />3.2.1 多旋翼无人机飞行原理 ······················································· 150 <br />3.2.2 坐标系定义与转换矩阵 ······················································· 151 <br />3.2.3 四旋翼无人机系统整体分析·················································· 154 <br />3.2.4 动力系统建模··································································· 154 <br />3.2.5 刚体动力学与运动学方程····················································· 159 <br />3.2.6 控制效率与控制分配模型····················································· 160 <br />3.2.7 动力学与运动学方程线性化·················································· 161<br />第 4章飞行控制律设计 ··················································163 <br />4.1 固定翼无人机飞行控制律设计 ··················································· 163 <br />4.1.1 固定翼无人机飞行控制系统概述 ············································ 163 <br />4.1.2 L1制导控制器设计 ···························································· 164 <br />4.1.3 总能量控制器设计 ····························································· 166 <br />4.1.4 串级 PID姿态控制器设计 ···················································· 169 <br />4.2 多旋翼无人机飞行控制律设计··················································· 171 <br />4.2.1 多旋翼无人机飞行控制系统概述 ············································ 171 <br />4.2.2 四旋翼飞行控制系统架构····················································· 173 <br />4.2.3 PID控制器设计 ································································ 173 <br />4.2.4 LQR控制器设计 ······························································· 176 <br />4.2.5 滑模控制器设计 ································································ 181<br />第 5章飞行控制硬件系统设计 ·········································186 <br />5.1 需求分析············································································· 186 <br />5.2 处理器选型·········································································· 187 <br />5.2.1 嵌入式系统简介 ································································ 188 <br />5.2.2 英特尔微处理器 ································································ 192 <br />5.2.3 ARM微处理器 ································································· 196 <br />5.3 电源系统 ············································································ 199 <br />5.3.1 线性稳压器······································································ 200 <br />5.3.2 开关式稳压器··································································· 203 <br />5.4 姿态信息测量······································································· 213 <br />5.4.1 微机电系统技术简介 ·························································· 213 <br />5.4.2 MEMS加速度计 ······························································· 219 <br />5.4.3 MEMS陀螺仪 ·································································· 230 <br />5.5 空气动力学参量的测量 ··························································· 240 <br />5.5.1 气压高度计······································································ 240 <br />5.5.2 空速计 ··········································································· 244 <br />5.6 导航信息测量······································································· 248 <br />5.6.1 地磁计 ··········································································· 248 <br />5.6.2 全球导航卫星系统 ····························································· 257<br />第 6章飞行控制律仿真实践 ············································266 <br />6.1 飞行控制律仿真环境简介························································· 266 <br />6.1.1 MATLAB及其仿真简介 ······················································ 266 <br />6.1.2 仿真集成环境 Simulink ······················································· 269 <br />6.2 固定翼无人机飞行控制律仿真实践 ············································· 271 <br />6.2.1 固定翼无人机动力学模型搭建··············································· 271 <br />6.2.2 非线性动力学模型配平与线性化 ············································ 275 <br />6.2.3 姿态控制律仿真模型搭建与测试 ············································ 281 <br />6.2.4 位置轨迹跟踪控制律仿真模型搭建与测试 ································ 284 <br />6.3 多旋翼无人机飞行控制律仿真实践 ············································· 290 <br />6.3.1 动力系统 Simulink模型搭建 ················································· 291 <br />6.3.2 无人机六自由度刚体模型搭建··············································· 292 <br />6.3.3 动力学模型配平与开环仿真·················································· 295 <br />6.3.4 PID控制律仿真模型搭建与测试 ············································ 297 <br />6.3.5 LQR控制律仿真模型搭建与测试 ··········································· 299 <br />6.3.6 滑模控制律仿真模型搭建与测试 ············································ 302 <br />第 7章飞行控制系统硬件在环仿真实践 ······························306 <br />7.1 硬件在环仿真系统简介···························································· 306 <br />7.1.1 硬件在环仿真与软件在环仿真对比 ········································· 306 <br />7.1.2 硬件在环仿真系统架构 ······················································· 306 <br />7.1.3 PX4-Autopilot软件系统简介················································· 307 <br />7.2 硬件在环仿真环境搭建 ··························································· 329 <br />7.2.1 Ubuntu桌面 HITL仿真环境搭建············································ 329 <br />7.2.2 Simulink中 HITL仿真的环境配置·········································· 334 <br />7.3 硬件在环仿真测试与参数调整··················································· 338 <br />7.3.1 Ubuntu桌面 HITL仿真流程 ················································· 338 <br />7.3.2 Simulink中 HITL仿真的设置和操作流程 ································· 345<br />附录术语表 ································································352<br />参考文献 ······································································355