四旋翼无人机建模及模糊PID控制  

Modeling and Fuzzy PID Control of a Quadcopter

作　　者：张长箭 张帆[1] 朱正吼[2] 袁志芬 王文智[3] ZHANG Zhang-jian;ZHANG Fan;ZHU Zheng-hou;YUAN Zhi-fen;WANG Wen-zhi(School of Information Engineering,Nanchang Hangkong University,Nanchang 330063,China;School of Physics and Materials Science,Nanchang University,Nanchang 330031,China;School of Aeronautics,Northwestern Polytechnical University,Xi’an 710072,China)

机构地区：[1]南昌航空大学信息工程学院,南昌330063 [2]南昌大学物理与材料学院,南昌330031 [3]西北工业大学航空学院,西安710072

出　　处：《南昌航空大学学报（自然科学版）》2024年第2期39-48,共10页Journal of Nanchang Hangkong University(Natural Sciences)

基　　金：江西省重大科技研发专项(20214ABC28W002)。

摘　　要：针对传统PID(Proportional Integral Derivative,PID)控制的响应时间较长、动态性能不好等问题,采用模糊PID控制方法设计一种四旋翼无人机动力学模型。模糊PID控制结合模糊控制和PID控制的优点,能有效提高系统的稳定性和动态性能,加快四旋翼无人机的响应速度,增强抗干扰能力,使系统更加灵敏可靠。对四旋翼无人机动力学模型进行simulink仿真,结果表明模糊PID控制能有效地控制四旋翼无人机,并且达到了预期的控制效果。To solve the problems of long response time and poor dynamic performance of traditional PID control,a fuzzy PID control method is adopted to design a dynamic model of a quadcopter aircraft.Fuzzy PID control combines the advantages of fuzzy control and PID control,which can effectively improve the stability and dynamic performance of the system,accelerate the response speed of quadcopter aircraft,enhance anti-interference ability,and make the system more sensitive and reliable.A simulation of the quadrotor is carried out by simulink.The results show that fuzzy PID control can effectively control quadcopter aircraft and achieve the expected control effect.

关 键 词：模糊PID控制 稳定性 SIMULINK 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]