基于改进PSO的无人自转旋翼机二自由度PID飞行控制  

Flight Control of Two-degree-of-freedom PID Unmanned Gyrocopter Based on Improved PSO

作　　者：苏中滨[1] 张磊磊 马铮 高睿 SU Zhongbin;ZHANG Leilei;MA Zheng;GAO Rui(School of Electrical and Information,Northeast Agricultural University,Harbin 150030,China)

机构地区：[1]东北农业大学电气与信息学院,哈尔滨150030

出　　处：《农业机械学报》2022年第1期151-158,185,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：黑龙江省“百千万”工程科技重大专项(2019ZX14A04);国家重点研发计划项目(2016YFD0300610)。

摘　　要：针对传统无人自转旋翼机自动控制采用一自由度PID和优化算法相结合,因自转旋翼机的响应滞后特性,一自由度PID不能同时满足快速响应和抑制干扰的问题,提出基于粒子群算法和模拟退火算法的二自由度PID控制器,同时设计前馈控制器的降噪方法,实现对无人自转旋翼机的有效控制。通过搭建Matlab仿真模型验证其可行性,其仿真结果表明本研究中算法相对于传统一自由度PID控制响应速度较快,前馈控制器能有效地抑制外部干扰,鲁棒性强,且系统响应速度快,响应时间提升约11%,响应精度更高,收敛误差小,约是传统PID的1/6,控制系统更稳定。同时在2种不同飞行环境下实际飞行实验验证了基于PSO-SA的二自由度PID控制器可行性,可为无人自转旋翼机在农业航空领域中的应用提供理论基础。For the automatic control of the traditional unmanned autogyro,a combination of one-degree-of-freedom PID and optimization algorithm is used,because the one-degree-of-freedom PID cannot solve the problem of fast response and interference suppression at the same time due to the response lag characteristics of autogyro.A two-degree-of-freedom PID controller based on the particle swarm algorithm and the simulated annealing algorithm is proposed,and a noise reduction method of feedforward controller is designed to achieve effective control of unmanned autogyro.The feasibility is verified by building a Matlab simulation model.The simulation results show that the response speed of the algorithm in this study is faster than that of the traditional one-degree-of-freedom PID control.The feedforward controller,with strong robustness and system response can effectively suppress external disturbances.As the result,the speed is fast and the response time is increased by about 11%.The control system is more stable with higher response accuracy and slighter convergence error value.The possibility of error is about 1/6 lower than the traditional PID.At the same time,the actual flight experiments in two different flight environments verified the feasibility of the two-degree-of-freedom PID controller based on PSO-SA,which can provide a theoretical basis for the application of unmanned autogyro in the field of agricultural aviation.

关 键 词：自转旋翼机 自动控制 二自由度 PID 粒子群算法 模拟退火算法 

分 类 号：V249.122[航空宇航科学与技术—飞行器设计]