四旋翼飞行器串级模糊自适应PID优化控制系统研究  

Design of cascade fuzzy self-adaptive PID optimization control system for four-rotor aircraft

作　　者：盛广润 高国伟[1,2] 李璇烨 罗丹 SHENG Guangrun;GAO Guowei;LI Xuanye;LUO Dan(Beijing Key Laboratory for Sensor,Beijing Information Science&Technology University,Beijing 100101,China;MOE Key Laboratory of Modern Measurement&Control Technology,Beijing Information Science&Technology University,Beijing 100192,China)

机构地区：[1]北京信息科技大学传感器北京市重点实验室,北京100101 [2]北京信息科技大学现代测控技术教育部重点实验室,北京100192

出　　处：《现代电子技术》2020年第22期67-71,共5页Modern Electronics Technique

基　　金：国家自然科学基金项目(61571053);北京信息科技大学研究生科技创新项目。

摘　　要：四旋翼飞行器控制系统具有非线性、耦合性等特性,PID参数的整定会存在一定的难度,而且固定的参数无法适用于四旋翼面临的复杂环境。要实现四旋翼的优化控制需要进行自适应性改进。该文结合PID控制和模糊控制的优点,设计一种非线性化的串级模糊自适应PID控制系统,分别在外环角度、内环角速度控制器中加入模糊自适应PID控制器,增强系统的自适应性和准确性。并且针对四旋翼存在高频干扰的特性,提出在角速度模糊自适应PID控制器的微分环节后加入一阶惯性环节,不完全微分提高了微分控制抗干扰能力。通过Matlab仿真实验对比结果表明,所设计方法响应速度快、超调量小,且增强了四旋翼控制的自适应能力和鲁棒性。The control system of four-rotor aircraft has the characteristics of nonlinearity and coupling,The PID parameters setting will be difficult to some extent,and the fixed parameters cannot be applied to the complex environment faced by the fourrotor.The adaptive improvement is needed to realize the optimal control of four-rotor.A nonlinearized cascade fuzzy self-adaptive PID control system is designed in combination with the advantages of PID control and fuzzy control,from which the fuzzy selfadaptive controller is added to the outer loop angle controller and the inner loop angular velocity controller respectively to enhance the adaptability and accuracy of the system.In allusion to the high-frequency interference characteristics of the fourrotor,a first-order inertia link is added after the differential link of the angular velocity fuzzy adaptive PID controller.The incomplete differential improves the anti-interference ability of the differential control.The simulation comparison and experimental verification on Matlab are performed.The results show that the designed method has fast response speed and low overshoot,which significantly enhances the self-adaptive ability and robustness of four-rotor control.

关 键 词：四旋翼飞行器 优化控制 自适应PID控制器 微分控制 仿真实验 结果分析 

分 类 号：TN876-34[电子电信—信息与通信工程] TP273[自动化与计算机技术—检测技术与自动化装置]