模糊PID控制无人自转旋翼机飞行姿态仿真  

Simulation of fuzzy PID control on flight attitude of unmanned autogyro

作　　者：苏中滨[1] 章宗鑫 马晨茗 高睿 SU Zhongbin;ZHANG Zongxin;MA Chenming;GAO Rui(School of Electrical and Information,NortheastAgricultural University,Harbin 150030,China)

机构地区：[1]东北农业大学电气与信息学院,哈尔滨150030

出　　处：《东北农业大学学报》2018年第2期64-72,共9页Journal of Northeast Agricultural University

基　　金：国家"863"计划项目(2013AA102303);黑龙江省重大科技研发项目(GY2014ZB0011);哈尔滨市科技攻关项目(2013AA6BN010)

摘　　要：农业植保无人机中自转旋翼机(简称旋翼机)具有机体结构简单、滑跑距离短、飞行高度低和空中失去动力时安全性高等优点,在农业数据采集、农情监测和农业施药等领域广泛应用。文章研究模糊PID控制器控制旋翼机姿态,运用MATLAB作旋翼机飞行姿态仿真。仿真结果显示,该系统在系统阶跃响应下模糊PID控制器相较经典PID收敛时间减少0.04 s,而给定目标角情况下,滚转角和俯仰角误差±0.01°与±0.05°上下。因此,模糊PID控制器可增强PID自适应性与鲁棒性,降低飞行时姿态控制不稳定性,姿态控制效果良好,提高飞行稳定性。In recent years,agricultural plant protection unmanned aerial vehicle(UAV)gets fast development with its own unique advantages of simple body structure,short running distance,lower flight altitude,the high security at the time of lost power in air has its in data acquisition,agricultural condition monitoring and crop of spraying.This treatise studied the fuzzy PID on the attitude control of autogyro,using MATLAB to simulate flight attitude.The simulation result showed that the step response of fuzzy PID compared with classical PID time reduced 0.04 s and rolling-angle and pitching-angle error of±0.01°and±0.05°in the case of a given target angle.Therefore,it was concluded that fuzzy PID enhanced the adaptability and robustness of classical PID,reduced the instability in the flight-attitude control,enhanced the effect on attitude control and improved the stability of the flight to a certain extent.

关 键 词：自转旋翼机 模糊控制 PID 飞行姿态 

分 类 号：V249[航空宇航科学与技术—飞行器设计]