四旋翼飞行器不完全微分PID控制算法研究  

Attitude Control for Quad-Rotor Based on Incomplete Derivative PID

作　　者：田红鹏[1] 范振可 

机构地区：[1]西安科技大学,陕西西安710054

出　　处：《计算机仿真》2016年第12期58-61,179,共5页Computer Simulation

基　　金：科技部;财政部科技惠民计划基金项目(2012GS610101);大学生创新创业训练计划项目(省级:201410704049)

摘　　要：针对四旋翼飞行器飞行不稳定问题,提出一种不完全微分PID控制算法。为提高飞行器姿态的控制性能,在常规的PID控制器微分环节中加入一阶惯性环节,可降低外界信号对系统造成的干扰。首先建立四旋翼飞行器的动力学建模,并设计不完全微分PID控制器,最后在matlab中,分别对四旋翼飞行器的俯仰运动、翻滚运动和偏航运动进行仿真验证。仿真结果表明不完全微分PID控制器比常规的PID控制器响应速度快,具有更高的鲁棒性和自适应能力,能够快速达到稳定状态,有效的提高四旋翼飞行器姿态的稳定控制能力。Aiming at the unstable problem in the quad - copter, a PID controller with incomplete derivative is proposed. The controller adding a first - order inertial link in the derivative can reduce the negative effect of external interference on the system. Firstly, the dynamic model of the quad - rotor is established. Then based on the model, the PID controller with incomplete derivative is designed. Finally, the simulation is carried out to verify the pitch, roll and yaw motions of the aircraft through Maflab. The results show that the proposed algorithm has faster response, stronger robustness and higher adaptive ability than the traditional PID controller, it can quickly reach the stable state and improve the quad -rotor attitude stability control effectively.

关 键 词：四旋翼飞行器 不完全微分 姿态控制 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]