无人机三维编队飞行模糊PID控制器设计  

An Effective Controller Design of Formation Flight of Unmanned Aerial Vehicles(UAV)

作　　者：肖亚辉[1] 王新民[1] 王晓燕[1] 余翔[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《西北工业大学学报》2011年第6期834-838,共5页Journal of Northwestern Polytechnical University

摘　　要：针对无人机编队飞行控制系统,引入编队飞行几何关系,建立了三维编队飞行数学模型,在速度、航向和高度三个通道加入了误差的线性混合器,并分别设计了基于模糊PID的编队飞行控制器。仿真结果表明,所设计的控制器可以通过控制间距方便有效地控制无人机编队飞行,实现在机动过程中保持队形,以及合理地进行编队队形变换。这种控制方法超调量较小,鲁棒性强,优于传统控制器。The introduction of the full paper discusses some relevant matters and then proposes the design mentioned in the title, which we believe is more effective than previous ones and which is explained in sections 1 and 2. Their core consists of： ＂Considering UAV formation flight in left diamond, we deduce its kinematics equations through the geometry relationships ers are introduced to the velocity, nique, which can realize formation , and combine its linear mathematical model with its autopilot model. Linear mixheading and altitude channels. We design the controller based on fuzzy PID techchanging and holding by controlling the distance. ＂ Simulation results, presented in Figs. 5,6 and 7, show preliminarily that the controller can effectively control UAV formation. This method is proved to have better characteristics than traditional controller in that its overshoot is small, its robustness is high and its response is fast.

关 键 词：编队飞行 模糊PID 编队保持与变换 鲁棒性 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程]