基于粒子群算法的无人机垂起伺服PID控制系统  

Research on the PID Servo Control System for Vertical Take-Off Drones Based on Particle Swarm Optimization

作　　者：李慧 李肖 LI Hui;LI Xiao(Aviation Engineering Institute,Jiangsu Aviation Technical College,Zhenjiang 212134,China;Zhenjiang Key Laboratory of UAV Application and Innovation,Zhenjiang 212134,China)

机构地区：[1]江苏航空职业技术学院航空工程学院,镇江212134 [2]镇江市无人机应用创新重点实验室,镇江212134

出　　处：《江苏工程职业技术学院学报》2024年第4期7-11,共5页Journal of Jiangsu College of Engineering and Technology

基　　金：镇江市社会发展指导性科技计划项目(编号:FZ2024124);江苏航空职业技术学院2023年度院级重点课题(编号:JATC23010105)。

摘　　要：针对无人机垂直上升的飞行状态控制问题,选择PMSM(永磁同步电机,Permanent Magnet Synchronous Motor,简称PMSM)作为无人机的电力驱动系统电机,选择合适的垂直上升运动曲线并设计对应的速度曲线和高度位置曲线,构建无人机PMSM三环伺服控制系统,在MATLAB R2023a软件的Simulink平台建立系统的仿真模型,通过仿真试验对比基于粒子群算法优化的PID(比例-积分-微分,Proportional-Integral-Derivative,简称PID)控制器与传统PID控制器下伺服电机的跟踪性能。仿真试验结果表明,相较传统PID控制器,基于粒子群算法的PID控制器下无人机伺服电机的响应时间更快,响应曲线更圆滑,超调现象有所改善,动态性能更优。To control the ascending state of drones,a three-loop servo control system was designed using Permanent Magnet Synchronous Motor(PMSM)as its electric drive motor.Its vertical motion curves were carefully selected,and corresponding velocity curves and altitude curves were designed.A simulation model of the system was constructed on the Simulink platform of MATLAB R2023a to evaluate its respective tracking performance with the PID(Proportional-Integral-Derivative)algorithm optimized by Particle Swarm and the traditional PID algorithm.Simulation results indicated that the servo control system responded much faster and exhibited a smoother response curve when the former algorithm was adopted.Additionally,it showed improved overshoot and enhanced dynamic property.

关 键 词：永磁同步电机 伺服控制 无人机 粒子群算法 SIMULINK 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程]