基于模糊PID的无人直升机解耦控制研究  

An Unmanned Helicopter Decoupling Control Based on the Fuzzy PID Control Method

作　　者：曾丽兰[1] 王道波[1] 樊春霞[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《应用科学学报》2004年第4期498-502,共5页Journal of Applied Sciences

摘　　要：针对具有非线性强、多变量耦合的无人直升机,设计了一种基于模糊逻辑PID控制方法,应用于姿态解耦,并且运用混沌优化理论对控制参数进行寻优.经仿真表明,这种方法控制效果好,鲁棒性强,易于工程实现.The unmanned helicopter is a strong nonlinear and multi-variable coupled system. Baseing on fuzzy PID control method, this paper proposes a decoupling control for the unmanned helicopter. The method can be applied to the unmanned helicopter's attitude decoupling. It can also search for the best control parameters by using the chaos-optimize theory. The simulation result shows that the proposed control strategy can attain high control performance and good robustness, and can be easily realized.

关 键 词：无人直升机 模糊PID 混沌优化 解耦控制 鲁棒性 PID控制 模糊逻辑 制方 控制效果 研究 

分 类 号：N945.21[自然科学总论—系统科学] TP273[自动化与计算机技术—检测技术与自动化装置]