基于区间二型模糊PID的四旋翼无人机姿态控制  

Attitude Control of Quadrotor Unmanned Aerial Vehicle Based on Interval Type-2 Fuzzy PID

作　　者：吴彪 院老虎[1] 李威[1] WU Biao;YUAN Laohu;LI Wei(School of Aeronautics and Astronautics,Shenyang Aerospace University,Shenyang 110136,China)

机构地区：[1]沈阳航空航天大学航空宇航学院,辽宁沈阳110136

出　　处：《控制工程》2024年第4期636-643,共8页Control Engineering of China

基　　金：国家自然科学基金资助项目(11302134)。

摘　　要：针对传统PID控制与一型模糊控制在四旋翼无人机姿态控制中响应速度慢、超调量大等问题,提出了一种区间二型模糊控制与传统PID控制相结合的控制算法。首先,在一型模糊系统的基础上对系统的单值前件和后件进一步模糊化形成区间前件和后件,更适于处理模糊信息。其次,利用具有停止条件的改进迭代算法(enhanced iterative algorithm with stop condition,EIASC)进行降型过程中开关点的计算,减少了计算时间,并将求解出的参数变化量作为初始PID控制参数值的补偿。最后,在建立的四旋翼无人机动力学模型上对所提算法进行仿真验证,仿真结果表明,所提算法比传统PID控制算法和一型模糊PID控制算法具有更快的响应速度、更高的稳态精度和更小的超调量。Considering the problems of slow response speed and large overshoot in attitude control of the quadrotor unmanned aerial vehicle(UAV)with conventional PID control and type-1 fuzzy control,a control algorithm that combines interval type-2 fuzzy control and conventional PID control is proposed.Firstly,on the basis of type-1 fuzzy system,the single-valued antecedents and consequents of the system are further blurred to form interval antecedents and consequents,which are more suitable for processing fuzzy information.Secondly,enhanced iterative algorithm with stop condition(EIASC)is used to calculate the switching points in the process of type reduction,which reduces the calculation time,and the solved parameter change is used as the compensation of the initial PID control parameter value.Finally,the proposed algorithm is verified by the simulation on the established quadrotor UAV dynamic model.The simulation results show that the proposed algorithm has faster response speed,higher steady-state accuracy and smaller overshoot than conventional PID control algorithm and the type-1 fuzzy PID control algorithm.

关 键 词：区间二型模糊控制 模糊PID控制 四旋翼无人机姿态控制 PID控制 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]