中文摘要：

四旋翼飞行器旋翼产生的升力是在基值的基础上附加一系列频率特性和旋翼转速有关的高频分量.由于它会对飞行器的控制产生扰动,本文研究了这类高频升力分量对飞行器的影响并给出了抑制扰动的方法.首先,基于拉格朗日能量法建立四旋翼飞行器动力学模型;进而分析了高频升力分量与飞行器角速度扰动之间的关系.然后,将角速度反馈环节加入针对有色噪声的卡尔曼滤波器来抑制角速度扰动对控制器的影响.实验结果显示：与改进前相比,采用本文的方法对四旋翼原型机进行悬停控制可使控制量波动减少50％,高频控制量衰减至-17db以下.结果表明：采用本文的方法,可以有效地抑制升力波动对四旋翼飞行器的影响,提高飞行控制效率.

英文摘要：

The lift of a quad-rotor aircraft is composed of series frequencies related to the rotor speeds. As it will interferes the control of the aircraft, this paper analyzes the effect of high-frequency lift component on the aircraft and gives an inhibiting method for the lift fluctuation. Firstly, the dynamic model of quad rotor aircraft was established by Lagrangians method and the relational expression between the high-frequency lift component and the disturbance of aircraft angular velocity was obtained. According to the previous analysis, the angular velocity feedback loop was joined a Kalman filter for colored noise to restrain the disturbance of angular velocity acting on the controller. A prototype was designed. The testing results show when the proposed method is used in hovering control of the quad rotor aircraft, the control variable fluctuations decrease by 50% and the high frequency control volume attenuates to under --17 db as compared with that of traditional PID method, respectively. The method of this paper effectively solves the effect of lift fluctuation on the quad rotor aircraft and improves the efficiency of control.