基于动态调节的小型四旋翼飞行器的控制系统  

Dynamic Adjustment Based Control System of Small Quadrotors

作　　者：余后明 刘彦臣[1] 刘玉斌[1] 宋大明 YU Hou-mmg;LIU Yan-chen;LIU Yu-bin;SONG Da-ming(College of Mechanical and Electrical Engineering,The North University of China,Taiyuan 030051,China;Xi＇an Institute of Modem Control Technology,Xi＇an 710065,China)

机构地区：[1]中北大学机电工程学院,太原030051 [2]西安现代控制技术研究所,西安710065

出　　处：《电光与控制》2018年第9期106-109,共4页Electronics Optics & Control

摘　　要：通过对四旋翼飞行器进行动力学建模,设计了简单PID控制器和动态调节PID控制器,并对动态调节PID进行了模糊规则的建立,成功地实现了对四旋翼姿态的控制;通过系统仿真比较了两种PID控制器的控制效果,结果表明,动态调节PID控制器相比于简单PID控制器具有更好的控制效果。A simple PID controller and a dynamic PID controller were designed based on the dynamic modeling of the quadrotors, and the fuzzy rules were established for the dynamic adjustment PID, which could implement the attitude control of the quadrotor. Simulation was made to the two kinds of PID controllers. The results show that, compared with the simple PID controller, the dynamic PID controller has better control effect.

关 键 词：四旋翼飞行器 PID控制器 仿真 

分 类 号：V279[航空宇航科学与技术—飞行器设计]