一种ITAE六旋翼无人机双闭环串联-前馈PID姿态控制算法  

A dual-loop series and feed-forward PID attitude control algorithm based on ITAE for six-rotor unmanned aerial vehicles

作　　者：胡浩伟 赵庆展[2,3] 田文忠 马永建 HU Haowei;ZHAO Qingzhan;TIAN Wenzhong;MA Yongjian(College of Mechanical and Electrical Engineering,Shihezi University,Shihezi 832003,China;Geospatial Information Engineering Research Center of XPCC,Shihezi 832003,China;College of Information Science and Technology,Shihezi University,Shihezi 832003,China)

机构地区：[1]石河子大学机械电气工程学院,新疆石河子832003 [2]石河子大学兵团空间信息工程技术研究中心,新疆石河子832003 [3]石河子大学信息科学与技术学院,新疆石河子832003

出　　处：《现代电子技术》2019年第10期97-101,107,共6页Modern Electronics Technique

基　　金：新疆生产建设兵团科技计划项目:兵团空间信息工程技术研究中心创建(2016BA001);中央引导地方科技发展专项资金项目:兵团空间信息工程技术研究中心(BT011)~~

摘　　要：针对传统比例积分微分(PID)控制算法在多旋翼姿态控制时因闭环零点所导致的系统超调量增加、反应速度降低的问题,以六旋翼无人机为研究平台,提出一种时间加权绝对误差值积分(ITAE)指标双闭环串联-前馈PID姿态控制算法。结果表明,在该算法下系统的超调量σ可控制在2%以下,调节时间ts控制在0.5 s以内,可实现对六旋翼无人机高度、偏航角、仰俯角和滚转角的控制,可保证无人机系统的稳定性且使稳态误差接近于0。该算法有效解决了传统PID控制算法在进行姿态控制时存在的超调量大、调节时间长的问题,同时也解决了前馈滤波PID算法控制时出现的超调量降低、调节时间增加的问题,说明算法对六旋翼无人机具有较好的控制效果。In order to solve the problems of the increase of system overshoot and decrease of reaction speed caused by the closed-loop zero point during the multi-rotor attitude control of the traditional proportional integral differential(PID)control algorithm,a dual-loop series and feed-forward PID attitude control algorithm based on the time-weighted absolute error value integral (ITAE)index is proposed taking the six-rotor unmanned aerial vehicle(UAV)as the research platform.The results show that, by using the algorithm,the system overshoot σ can be controlled below 2% and the adjustment time ts within 0.5 s,which can realize the control of the height,yaw angle,pitch angle and roll angle of the six-rotor UAV,and ensure the stability of the UAV system and the steady-state error close to zero;the algorithm can effectively resolve the problems of large overshoot and long adjustment time during the attitude control of the traditional PID control algorithm,and also the problems of the decrease of overshoot and increase of adjustment time during the control of the feed-forward filtering PID algorithm,which indicates that the algorithm has a good control effect on the six-rotor UAV.

关 键 词：六旋翼无人机 时间加权绝对误差值积分 双闭环 PID控制算法 超调量 姿态控制 

分 类 号：TN876-34[电子电信—信息与通信工程]