基于粒子群算法的四旋翼仿人智能控制器设计  

The Design of Four-rotor Human-Simulated Intelligent Controller Based on Particle Swarm Optimization Algorithm

作　　者：雷建和[1] 万斌 刘明 张栋[1] 

机构地区：[1]青岛理工大学自动化工程学院,山东青岛266520 [2]中国科学院合肥智能机械研究所,安徽合肥230031

出　　处：《计算机仿真》2018年第1期27-32,共6页Computer Simulation

基　　金：国家自然科学基金资助项目(61105090);山东省高等学校科技计划项目(J14LN26);青岛理工大学名校建设工程项目(MX4-1)

摘　　要：姿态角控制是四旋翼飞行器在飞行过程中重要组成部分,由于其系统的非线性、延迟,传统PID控制器对四旋翼的控制效果往往会出现较多的系统超调量以及较长调节时间,控制效果并不令人满意。因此设计了一种将粒子群算法与仿人智能控制相结合的新型四旋翼控制器,并通过搭建Matlab/Simulink仿真平台完成系统仿真并与传统PID控制器比较。仿真结果验证了上述控制器具有较好的控制性能,结构简单且响应速度较快、抗干扰性较强。ABSTRACT： Four-rotor aircraft attitude control is an important part for its flight. Due to the nonlinearity of the sys- tem and delay, traditional PID controller tends to have bigger overshoot and longer setting time, The control effect is not satisfactory. Therefore, a new type of four-rotor controller was designed, which combines particle swarm optimi- zation algorithm with Human-simulated Intelligent Control. Based on Matlab/Simulink, a simulation platform was built to complete the system simulation and compare the results with the traditional PID controller. Simulation results verify that the controller has simpler structure, quicker response speed, and stronger anti-interference ability.

关 键 词：四旋翼飞行器 粒子群优化 仿人智能控制器 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]