基于变论域模糊PID的三自由度直升机控制  

3-DOF Helicopter Control Based on Variable Universe Fuzzy PID

作　　者：戴波[1] 周泽彧 陈亚峰 李雁飞[1] DAI Bo;ZHOUZe-yu;CHEN Ya-feng;LIYan-fei(College of Information Engineering,Beijing Institute of Petrochemical Technology,Beijing 102617,China;College of Information Science&Technology,Beijing University of Chemical Technology,Beijing 100029,China)

机构地区：[1]北京石油化工学院信息工程学院,北京102617 [2]北京化工大学信息科学与技术学院,北京100029

出　　处：《控制工程》2019年第11期2061-2066,共6页Control Engineering of China

基　　金：北京市教育委员会科技能力提升计划资助项目(TSJH20161001701)

摘　　要：模糊控制作为解决三自由度直升机系统稳定性有效方法,但控制器在模糊规则确定的情况下无法保障系统轨迹的高精度追踪,存在只对某一工作区域局部优化的问题。对此设计变论域模糊PID控制器,通过伸缩因子调整论域,在初始模糊规则的基础上进行调整,增加规则的适用范围,获得更高的控制精度,并达到自适应效果,实现系统全局最优化。实验表明,变论域模糊控制能够更好地抑制稳态误差,提高响应速度,实现系统的稳定运行。Fuzzy control is an effective method to solve the stability of 3-degree of freedom helicopter system,but when the fuzzy rules are determined,there is a problem of local optimization only for a certain working area,and the fuzzy controller can’t guarantee the high-precision tracking of the system trajectory.The variable domain fuzzy PID controller is designed.By adjusting the domain through the expansion factor,it adjusts the domain on the basis of the initial fuzzy rules,increases the application scope of the rules,obtains higher control accuracy,achieves the self-adaptive effect,and realizes the global optimization of the system.The experiment shows that the variable domain fuzzy control can better suppress the steady-state error,improve the response speed and realize the stable operation of the system.

关 键 词：三自由度直升机 变论域模糊 模糊PID控制 实时控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]