基于自适应模糊PID的四旋翼飞行器悬停控制  

Hovering control of four-rotor aircraft based on adaptive fuzzy proportion integration differentiation

作　　者：王健[1] 王承龙[1] 李智[2] 王勇军[1,2] 

机构地区：[1]桂林电子科技大学信息与通信学院,广西桂林541004 [2]桂林航天工业学院无人遥测重点实验室,广西桂林541004

出　　处：《桂林电子科技大学学报》2016年第5期406-411,共6页Journal of Guilin University of Electronic Technology

基　　金：国家自然科学基金(61361006);广西自然科学基金(2015GXNSFBA139251);桂林航天工业学院院级基金(YJ1304)

摘　　要：为了解决四旋翼飞行器在悬停飞行过程中控制性能差、鲁棒性差等问题,提出一种基于自适应模糊PID控制方法。根据Newton-Euler方程建立四旋翼飞行器的非线性模型,设计内环为姿态控制,外环为位置控制,并在Matlab环境下设计了该自适应模糊PID控制器。仿真和实验结果表明,该自适应模糊PID控制器具有较好的响应速度及鲁棒性,能够有效地控制飞行器到达目标位置,并且保持悬停飞行状态,实现了对四旋翼飞行器系统双环控制。In order to improve control performance, robustness of the four-rotor aircraft in the process of hovering flight, a control method based on fuzzy adaptive proportion integration differentiation is proposed. Firstly Newton-Euler equations are used to construct the nonlinear model of four rotor aircraft. Then the inner loop of attitude control is designed, the outer loop of position control is designed, and the adaptive fuzzy PID controller is designed by Matlab. Finally simulation results show that the adaptive Fuzzy PID controller has better response speed and robustness, it can effectively make the aircraft reach the target position and remain hovering flight. The bicyclic control of four rotor aircraft is realized.

关 键 词：四旋翼飞行器 动力学建模 自适应模糊PID控制 悬停控制 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计] TP273.4[自动化与计算机技术—检测技术与自动化装置]