四旋翼串级自耦PID姿态控制器设计  

Cascade Self-coupling PID Attitude Controller for Quadrotor Aircraft

作　　者：李成林 齐本胜 苗红霞 邹杨 姜博严 郭章旺 LI Chenglin;QI Bensheng;MIAO Hongxia;ZOU Yang;JIANG Boyan;GUO Zhangwang(School of Internet of Things Engineering,Hehai University,Jiangsu,Changzhou 213022,China;Key Laboratory of power transmission and distribution equipment,Jiangsu,Changzhou 213022,China)

机构地区：[1]河海大学物联网工程学院,江苏常州213022 [2]江苏省输配电装备技术重点实验室,江苏常州213022

出　　处：《自动化与仪器仪表》2023年第2期103-106,共4页Automation & Instrumentation

基　　金：河海大学大学生创新训练计划项目(2022102941424);常州市科技项目应用基础研究计划(CJ20220083);江苏省输配电装备技术重点实验室开放课题(2021JSSPD05)。

摘　　要：为解决四旋翼无人机飞行姿态控制上存在的调整时间长、鲁棒性差等问题,在串级PID控制器的基础上,应用改进的自耦PID控制算法设计了一种串级自耦PID姿态控制器。首先建立四旋翼无人机动力学模型,并制定控制规则,然后通过设计速度因子统一整定控制器参数,最后在simulink中搭建模型并进行仿真实验,检验控制器的稳定性与有效性。仿真结果表明:与传统控制器相比,串级自耦PID控制器具有更快的响应速度和鲁棒性,且可以明显降低系统的超调量,能够满足四旋翼无人机姿态控制需求。In order to solve the problems of long adjustment time and poor system robustness in flight attitude control of quadrotor aircraft, a cascade self-coupling PID attitude controller is designed based on cascade PID controller and the improved self-coupling PID control algorithm. Firstly, the dynamic model of the quadrotor aircraft is established, and the control rules are formulated. Then the controller parameters are uniformly adjusted by designing the adaptive speed factor. Finally, the model is built in simulink and the simulation tests are carried out to verify the stability and effectiveness of the controller. The simulation results show that compared with the traditional controller, the cascade self-coupling PID controller has faster response speed and robustness, and can significantly reduce the overshoot of the system, which can better meet the attitude control requirements of quadrotor aircraft.

关 键 词：四旋翼无人机 姿态控制 串级PID 自耦PID 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]