模糊自整定PID在四旋翼飞行器姿态控制中的应用  

An application of a fuzzy self-tuning PID in quadrotor aerocraft attitude control

作　　者：梁雪慧[1] 闫粉粉 邵晓龙[2] 

机构地区：[1]天津理工大学自动化学院,天津300384 [2]天津市环境保护科学研究院,天津300191

出　　处：《工业仪表与自动化装置》2015年第6期23-25,共3页Industrial Instrumentation & Automation

基　　金：天津市科技特派员项目(14JCTPJC00510);天津市科技计划资助项目(13ZCZDGX03800)

摘　　要：四旋翼飞行器的结构简单以及对飞行环境要求低的优势,使其应用极其广泛。四旋翼飞行器的姿态控制是决定飞行性能的关键,目前,应用较成熟的控制方法仍为PID控制,但是四旋翼飞行器的姿态之间存在非线性的耦合,使得控制参数整定有难度,PID控制器对其姿态的调整会出现较大的超调量,或者较长的调节时间。该文综合了模糊控制和PID控制各自优势,设计了模糊自整定PID控制器,能够实现参数的自整定。仿真结果显示,所设计的控制器能够有效抑制系统超调量,提高响应速度。Quadrotor aerocraft in the advantages of simple structure and low environmental requirements for flying,make its application widely. The attitude control of a quadrotor aerocraft is the key to guarantee its flight performance. Although the PID control method remains to be used wildly,it tends to appear large system overshoot,or long regulation time because of quadrotor aerocraft＇s nonlinearity which enhances the difficulty to adjust the control parameters. As to the nonlinear dynamic model of a quadrotor,a fuzzy self- tuning PID controller is designed. The controller effectively utilizes the advantages of both fuzzy control and PID control,and regulates control parameters in real time. The simulation results show that the controller can effectively suppress the overshoot and cut down the response time.

关 键 词：四旋翼飞行器 PID控制 模糊自整定PID 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]