基于专家PID的带臂四旋翼无人机控制方法  

Control method of quadrotor UAV with manipulator based on expert PID

作　　者：陈宝 周祖鹏[1] 卫欢 吕延钊 睢志成 CHEN Bao;ZHOU Zupeng;WEI Huan;LYU Yanzhao;SUI Zhicheng(School of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)

机构地区：[1]桂林电子科技大学机电工程学院,广西桂林541004

出　　处：《计算机应用》2022年第8期2637-2642,共6页journal of Computer Applications

基　　金：国家自然科学资金资助项目(61763006)。

摘　　要：相较于未带臂的无人机,带臂无人机(UAV)的飞行轨迹会出现较大偏差,更难以稳定控制。为了解决带臂UAV的精确轨迹控制问题,提出基于专家PID的带臂四旋翼无人机控制方法。首先,将机械臂搭载于UAV上把它们作为整体,并通过拉格朗日方程建立了带臂UAV的运动学和动力学系统模型;其次,设计专家PID控制器用于对系统的稳定控制;然后利用五次多项式对带臂UAV的机械臂进行轨迹规划;最后,通过仿真验证专家PID控制方法对带臂UAV稳定控制的有效性。实验结果表明,相较于常规PID控制,所提基于专家PID的控制方法提高了系统的响应速度,且能够有效地抑制外部扰动;该方法对于动作情况下的机械臂能够稳定地跟踪其轨迹,且具有很好的抗扰性和鲁棒性。Compared with the Unmanned Aerial Vehicle(UAV)without manipulator,the UAV with manipulator has large deviation in the flight trajectory and is more difficult to control stably.In order to solve the precise trajectory control problem of UAV with manipulator,a control method of quadrotor UAV with manipulator based on expert PID was proposed.Firstly,the manipulator was equipped to the UAV and the two was considered as a whole,and the kinematics and dynamics system models of UAV with manipulator was established through Lagrange equation.Secondly,an expert PID controller was designed to control the stability of the system.Thirdly,the trajectory planning of the manipulator of UAV with manipulator was carried out by using quintic polynomial.Finally,the effectiveness of expert PID control method for the stability control of UAV with manipulator is verified by simulation.The experimental results show that compared with conventional PID control,the proposed control method based on expert PID improves the response speed of the system and can effectively suppress external disturbances.This method can track the trajectory of the manipulator stably under the action,and has good immunity and robustness.

关 键 词：带臂无人机 专家PID控制 无人机 轨迹规划 干扰 

分 类 号：TP11[自动化与计算机技术—控制理论与控制工程]