基于极值搜索算法的四旋翼姿态PID控制  

PID control of quadrotor attitude based on extreme seeking algorithm

作　　者：许海洋 郭玉英 XU Haiyang;GUO Yuying(School of Information Engineering,Southwest University of Science and Technology,Mianyang 621010,China;Key Laboratory of Sichuan Province of Robot Technology Used for Special Environment,Mianyang 621010,China)

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010 [2]特殊环境机器人技术四川省重点实验室,四川绵阳621010

出　　处：《传感器与微系统》2022年第4期100-103,共4页Transducer and Microsystem Technologies

基　　金：航空发动机高空模拟技术国防科技重点实验室创新基金资助项目(18ZD9101)。

摘　　要：目前四旋翼无人机(UAV)大多采用比例-积分-微分(PID)控制器,但四旋翼控制器比较多且PID参数整定比较困难。针对这一问题采用极值搜索(ES)与PID相结合的方法对四旋翼的姿态进行控制。在分析四旋翼的数学模型及其姿态控制方法的基础上,设计了ES-PID控制器,并在MATLAB中进行了仿真验证。结果表明:极值搜索算法对PID控制器具有很好的参数整定效果,ES-PID对四旋翼控制具有更好的动态性和稳定性。Nowadays,most quadrotor unmanned aerial vehicle(UAV)adopt proportional integral differential(PID)controllers,but there are many quadrotor controllers and PID parameters tuning is difficult.In order to solve this problem,the attitude control of the quadrotor is carried out by combining extreme searching(ES)with PID.On the basis of analyzing the mathematical model and attitude control method of four rotors,ES-PID controllers are designed,which is verified by simulation in MATLAB.The results show that the extremum seeking algorithm has good parameter tuning effect for PID controllers,and ES-PID has better dynamic and stability for quadrotor control.

关 键 词：四旋翼无人机 极值搜索 比例-积分-微分参数整定 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] V279[自动化与计算机技术—计算机科学与技术]