四旋翼飞行器模糊PID姿态控制  

Attitude Control of Four-Rotor Aircraft via Fuzzy PID

作　　者：张镭[1] 李浩[1] 

机构地区：[1]河南大学物理与电子学院,河南开封475004

出　　处：《计算机仿真》2014年第8期73-77,共5页Computer Simulation

摘　　要：在四旋翼飞行器控制姿态优化问题的研究中,为更好的实现对四旋翼飞行器的姿态控制,在Matlab环境下利用6-DOF运动方程模块搭建了四旋翼飞行器的非线性模型。选取四旋翼飞行器的姿态角作为控制对象,借助Matlab模糊工具箱设计了模糊PID控制器并依据专家经验编辑了相应的模糊规则;同时设计了常规PID控制器并选取了最佳的PID控制参数,对两种控制器控制下的四旋翼飞行器姿态进行了相同条件下的Matlab仿真。仿真结果表明,模糊PID控制器相比常规PID控制器具有更优良的动态性能及鲁棒性。对实际四旋翼飞行器的姿态控制具有一定的指导意义。In order to achieve reliable attitude control of the four - rotor aircraft, we used the 6 - DOF motion e- quation module to construct the non - linear model of the four - rotor aircraft under the environment of Matlab in this paper. We chose the attitude of the four - rotor as control parameter, designed the fuzzy PID controller with the help of Matlab fuzzy toolbox and also edited the fuzzy rules rely on expert＇s experience. Meanwhile, we designed the con- vention PID controller with the best parameters, and employed Matlab simulation to realize the attitude control simu- lation with this two kinds of controllers of the four - rotor aircraft. The result of the simulation shows that, the fuzzy PID controller has more excellent dynamic property and robustness compared with the convention PID controller.

关 键 词：四旋翼飞行器 姿态控制 仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]