小型四旋翼飞行器新型非线性PID姿态控制器设计  

Designing a New Nonlinear PID Attitude Controller for Small Quad-rotor Aircraft

作　　者：李杰[1] 齐晓慧[1] 韩帅涛[1] 

机构地区：[1]军械工程学院光学与电子工程系,石家庄050003

出　　处：《机械科学与技术》2013年第8期1163-1166,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金："十二五"军队"2110工程"重点建设学科项目资助

摘　　要：针对小型四旋翼飞行器姿态控制问题,设计了一种新型非线性PID姿态控制器。针对传统PID的不足,通过引入两个跟踪微分器以及误差反馈的非线性组合构成非线性PID,并结合简化的小型四旋翼飞行器数学模型,提出了一种基于新型非线性PID姿态控制方法。仿真结果表明,所设计的控制器具有较强的鲁棒性、抗干扰性以及良好的滤波性能,系统具有良好的动态和稳态性能。由于保留了传统PID优点,设计简单,对实际工程具有较大的指导价值。A new nonlinear PID attitude controller was designed to control the attitude of a small quad-rotor air- craft. Combined with the simplified mathematical model of small quad-rotor aircraft, an attitude control method was proposed by using the new nonlinear PID attitude controller. Two tracking differentiators and a nonlinear state error feedback are used to overcome the deficiency of the traditional PID controller. The simulation results indicate that our attitude controller achieves strong robustness, anti-disturbance and high filtering performances, having high-dy- namic and steady-state performances.

关 键 词：小型四旋翼飞行器 非线性PID 姿态控制器 跟踪微分器 非线性组合 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]