一种复合智能控制在无人机定高的应用  

Application of the Composite Intelligent Control in Unmanned Aerial Vehicle Height Control

作　　者：刘盛华 贺勇[1] 於小杰 LIU Sheng-hua;HE Yong;YU Xiao-jie(School of Electrical and Information Engineering,Changsha University of Science and Technology,Changsha 410015,China)

机构地区：[1]长沙理工大学电气与信息工程学院,湖南长沙410015

出　　处：《控制工程》2021年第6期1086-1092,共7页Control Engineering of China

基　　金：长沙理工大学校企合作基金资助项目(30404022264)。

摘　　要：无人机高度控制容易受到气流的变化、传感器精度、外界噪声干扰、非线性因素等影响。针对目前无人机高度控制中串级控制、模糊PID控制、鲁棒控制等方式导致的控制效果不佳、震颤现象严重、建模困难等问题,提出了一种复合智能控制:基于串级控制结构,以模糊PID控制做外环,粒子群PID控制作为内环的串级模糊-粒子群PID(FPSPID)控制。控制器具有控制精度高、鲁棒性强等优点。实际飞行表明:设计的控制器在飞行过程中高度始终稳定在设定值附近1~1.5 cm的位置,对于突变的气压及周期性干扰等,系统体现了良好的鲁棒性。Unmanned aerial vehicle(UAV)height control is easily affected by changes in airflow,sensor accuracy,external noise interference,and nonlinear factors.Aiming at the problems of poor control effect,serious tremor,and difficulty in modeling caused by cascade control,fuzzy roportional integral derivative(PID)control,and robust control in the current height control of UAVs,the composite intelligent control is proposed:cascade fuzzy particle swarm PID(FPSPID)control.The proposed control is based on cascade control structure,with fuzzy PID control as the outer loop and particle swarm PID control as the inner loop.The controller has the advantages of high control accuracy and strong robustness.The actual flight shows that the designed controller is always stable at a position of 1~1.5 cm near the set value during the flight,and the system shows good robustness to sudden changes in air pressure and periodic interference.

关 键 词：无人机定高 模糊PID控制 粒子群PID控制 鲁棒性 

分 类 号：V279.2[航空宇航科学与技术—飞行器设计]