四旋翼飞行器的自适应单神经元PID控制研究  

Adaptive Single Neuron PID Flight Control of Quadrotor

作　　者：周谟[1] 徐光辉[2] 罗章凯[3] 孔磊[3] 

机构地区：[1]解放军理工大学通信工程学院研究生3队,江苏南京210007 [2]解放军理工大学通信工程学院,江苏南京210007 [3]解放军理工大学通信工程学院研究生2队,江苏南京210007

出　　处：《军事通信技术》2013年第3期7-11,共5页Journal of Military Communications Technology

摘　　要：四旋翼飞行器的飞行控制通常采用比例、积分和微分(PID)控制算法。文章针对传统PID控制算法调整时间过长,超调量大等问题,基于四旋翼飞行器的非线性动力学模型,设计了一种改进的自适应单神经元P ID飞行控制算法。该算法在调整加权系数的基础上,通过运用非线性控制方法,增加了对神经元比例系数的自适应调整。仿真结果表明,该算法动态响应速度快,稳态控制精度高,抗干扰能力强,能较好地实现对四旋翼飞行器的通道控制。Proportional-Integral-Derivative （PID） control algorithm is often applied in flight control of quadrotor. In order to solve the problems of slow setting process and large overshoots in the traditional PID algorithm, the quadrotor was modeled and an improved adaptive single neuron PID control algorithm proposed. In this algorithm, the weighting coefficients were regulated and the adaptive adjustment of the neuron ratio was derived by applying a nonlinear control approach. The simulation results demonstrate that the control algorithm achieves better channel control than the traditional PID methods, and exhibits faster dynamic response speed, higher steady-state control precision and better robustness.

关 键 词：四旋翼飞行器 单神经元 飞行控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]