基于改进精英蚁群系统算法的四旋翼无人机姿态控制研究  

Research on Attitude Stability Control of Quadrotor Unmanned Aerial Vehicle Based on Improved Elitist Ant Colony System Algorithm

作　　者：钟海鑫 罗晓曙[1] 赵帅[1] 杨力[1] 唐堂[1] 

机构地区：[1]广西师范大学电子工程学院,广西桂林541004

出　　处：《广西师范大学学报（自然科学版）》2016年第4期85-92,共8页Journal of Guangxi Normal University:Natural Science Edition

基　　金：国家自然科学基金资助项目(11262004);广西多源信息挖掘与安全重点实验室开放基金资助项目(MIMS15-06);广西信息科学实验中心基金资助项目(KA1430)

摘　　要：四旋翼无人机在飞行过程中姿态易受到外界气流等因素的干扰,导致飞行姿态失稳,影响完成预设飞行任务的质量。针对传统PID控制不能自适应调整其控制参数的特点,本文首先研究精英蚁群系统算法与PID控制结合的方法,然后提出一种改进精英蚁群系统算法与PID控制结合的方法,分别实现无人机在受到干扰情况下飞行过程的姿态控制,并进行了仿真实验对比。仿真实验结果表明:用改进精英蚁群系统算法优化PID控制参数,不仅可以在短时间内获得PID控制参数的最优解,提高了收敛速度,同时具有更好的抗扰性和鲁棒性。The altitude of Quadrotor Unmanned Aerial Vehicle（QUAV）is easy to be disturbed by the factors such as the external air flow during the flight,which leads to the instability of the flight attitude and impacts the quality of the preset flight mission.Aiming at the characteristics of the traditional PID control failing to adaptively adjust the control parameters,firstly,this paper studies the method of the combination between elitist ant colony system algorithm and PID control,and then proposes a method of improved elitist ant system algorithm to combine with PID control,respectively,to achieve QUAV＇s altitude control during the flight under disturbance,finally the simulation experiment comparison is carried out.Simulation experimental results show that the improved elitist ant colony system algorithm that optimizes the parameters of PID control can not only get optimum valve in a short time and improve the speed of convergence,but also have a better performance of anti-disturbance and robustness.

关 键 词：PID控制 蚁群系统算法 抗扰性 鲁棒性 

分 类 号：TP273.2[自动化与计算机技术—检测技术与自动化装置] TP271[自动化与计算机技术—控制科学与工程]