基于双种群遗传算法的四旋翼飞行器PID参数整定方法  

Quadrotor's PID Parameters Tuning Method Based on Dual Population Genetic Algorithm

作　　者：牛志玲[1] 潘晓萌[1] 

机构地区：[1]河南职业技术学院信息工程系,郑州450046

出　　处：《计算机测量与控制》2014年第4期1230-1232,共3页Computer Measurement &Control

摘　　要：针对四旋翼飞行器的PID控制器参数整定问题,提出使用双种群遗传算法对控制器参数进行寻优;四旋翼飞行器的PID参数调整困难,由于通道间的耦合关系使常规的参数调整方法失效,提出结合双种群遗传算法,寻找最优的PID参数组合,实现飞行器控制;结合动力学模型并加以适当简化,设计了PID控制器,使用双种群遗传算法整定参数,进行了数据仿真实验;结果表明,双种群遗传算法能够提高单种群遗传算法5%的性能,获得的参数控制效果更好。In order to tune PID parameters of a quadrotor, propose to use dual genetic algorithm to optimize the parameters of the con- troller. It is difficulty to adjust the parameters with couping among the channels, and regular method fails. Combined with dual population genetic algorithm to get the optimal combination of PID parameters and achieve the control of the aircraft. Binding kinetics model and proper- ly streamlined, design PID controller using dual population genetic algorithm tuning parameters. Carried out data simulation results show that the dual population genetic algorithm can improve the performance of single population genetic algorithms 5 percent, parameters obtained effect better.

关 键 词：双种群遗传算法 PID参数整定 四旋翼控制 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]