基于模糊PID的直升机模型飞行姿态控制  

Helicopter Model Flight Attitude Control Based on Fuzzy-PID

作　　者：张乐[1] 吴金男[1] 毕少杰[2] 

机构地区：[1]沈阳大学信息工程学院,沈阳110044 [2]山东黄海造船有限公司,山东威海264309

出　　处：《控制工程》2014年第3期387-390,394,共5页Control Engineering of China

基　　金：国家自然科学基金项目(61004039);辽宁省高等学校优秀人才支持计划项目(LJQ2013123)

摘　　要：针对微型无人直升机具有非线性、多变量耦合等特性,利用模糊组合PID控制方法研究直升机模型飞行控制系统的姿态控制问题。首先以三自由度直升机模型为控制对象,建立动力学方程。然后对PID控制方法采用模糊控制算法进行改进。为使直升机模型能够平稳飞行,且具有较强的鲁棒性,基于解耦的直升机模型分别设计模糊-PID阈值切换和加权控制方法,对直升机模型的俯仰轴和横侧轴进行控制。最后将所提出的控制方法应用于直升机模型本体实现姿态优化,实时仿真效果说明所设计方法的可行性和有效性。The attitude control problem for helicopter flight control system is studied by combining fuzzy and PID control method with strongly nonlinear and multi-variable coupling characteristics of the unmanned micro helicopters. Firstly, the strong vibration and inter- ference dynamics characteristics of helicopter during flight are investigated. The dynamics model is constructed which takesa 3 degree- of-freedom helicopter as an object to be controlled. Based on the research of the actual problem of poor dynamic performance and badly control precision of traditional PID controller, a fuzzy control algorithm is used to improve PID control method. In order to achieve strong robustness and balance flight performance, the fuzzy-PID controllers with threshold switch and weighted value are designed based on the advantage of PID controllers and fuzzy controllers respectively, which are to control the elevation axis and pitch axis of the decoupled helicopter models. Lastly, the proposed control approaches are applied to the helicopter model to optimize the flying gesture. The real- time simulation results are offered to illustrate the feasibility and the validity of the proposed approach.

关 键 词：直升机模型 模糊一PID控制 阈值切换 加权 硬性切换 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]