应用串级PID控制的自主搜救无人机  

Using Cascade PID for Autonomous Searching Aircraft

作　　者：张宁宁 楚红雨[1] 常志远 李爽 邵延华[1] 

机构地区：[1]西南科技大学信息工程学院,四川绵阳621000

出　　处：《工业控制计算机》2018年第2期52-53,55,共3页Industrial Control Computer

基　　金：国家自然科学基金(61601382);四川省教育厅项目(17ZB0454);西南科技大学博士研究基金项目(16zx7148)

摘　　要：近年来,无人机是国内外的研究热点,将无人机作为搜救工具应用于应对灾害事故可极大地提高搜救效率,具有十分重要的社会意义。其中,飞行控制系统是无人机完成自主搜救任务的重要基础和关键一环。以控制方法为重点,为提高搜救无人机搜救作业能力,研究了一种应用串级PID控制的自主搜救无人机。试验结果验证了该控制方法鲁棒性较好,工程价值和科学意义较高。In recent years,the research of UAV is a hotspot at home and abroad,as a tool used to deal with disaster accidents,the UAV can greatly improve efficiency of searching and rescuing and has very important social significance.Among them,the control system is the basis for tasks to complete search and rescue independently,but also the cornerstone.Focusing on the control method,this paper studies an unmanned aerial vehicle used in the autonomous search and rescue with cascade PID control to improve the search and rescue capability of the UAV.The experimental results verify that the control method is robust and has engineering value and scientific significance.

关 键 词：串级PID 自主搜救 无人机 鲁棒性 

分 类 号：V279[航空宇航科学与技术—飞行器设计]