基于模糊PID四旋翼飞行器姿态控制  

Attitude Control of Quadrotor Based on Fuzzy PID

作　　者：张萍[1] 雷宁[1] ZHANG Ping;LEI Ning(Department of Electronics and Information Engineering,Jiangyin Polytechnic College,Jiangyin 214400,China)

机构地区：[1]江阴职业技术学院电子信息工程系

出　　处：《航空计算技术》2019年第3期115-118,共4页Aeronautical Computing Technique

基　　金：2018年江阴职业技术学院立项科研项目资助(18E-DZ-18)

摘　　要：在四旋翼飞行器飞行过程中,优良的姿态控制是实现飞行器稳定飞行的前提。为了实现姿态控制,对四旋翼飞行器进行了受力分析,建立了非线性数学模型,根据专家经验制定了模糊控制规则,设计了四旋翼飞行器姿态控制的模糊PID控制器,并对其建立了Simulink仿真模型和搭建了试验平台。Simulink模型仿真和飞行器试验平台验证结果表明:姿态角实际输出波形与其期望波形基本一致,所设计的模糊PID控制器具有一定的可行性和有效性,能对四旋翼飞行器姿态进行有效控制。During the flight of the quadrotor,excellent attitude control is the premise for achieving stable flight.In order to realize the attitude control,the force analysis of the quadrotor is carried out,the nonlinear mathematical model is established,the fuzzy control rules are established according to the expert experience,the fuzzy PID controller of the attitude control on the quadrotor is designed,simulink simulation model is established and a test platform is built.The results show that the actual output waveform of the attitude angle is basically consistent with its expected waveform,the designed fuzzy PID controller has certain feasibility and effectiveness,and can effectively control the attitude of the quadrotor.

关 键 词：姿态控制 非线性数学模型 模糊控制规则 模糊PID控制器 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]