量子优化分数阶PID的四旋翼无人机姿态控制  

Attitude Control of Quadcopter UAV Using Quantum-optimized Fractional-order PID

作　　者：叶子恒 徐龙艳[1] 黄利明 赵逸凡 席茂 何仔涵 Ye Ziheng;Xu Longyan;Huang Liming;Zhao Yifan;Xi Mao;He Zaihan(Hubei University of Automotive Technology,Shiyan 442002,China;Dongfeng Motor Chassis Systems,Hubei University of Automotive Technology,Shiyan 442002,China)

机构地区：[1]湖北汽车工业学院,湖北十堰442002 [2]东风汽车底盘系统有限公司,湖北十堰442002

出　　处：《湖北汽车工业学院学报》2025年第1期23-27,共5页Journal of Hubei University Of Automotive Technology

基　　金：湖北省教育厅科学技术研究计划项目(D202111802);湖北省重点研发计划项目(2022BEC008)。

摘　　要：针对四旋翼无人机姿态控制过程中存在模型不确定及控制精度不高问题,设计了量子优化分数阶PID姿态控制器。将分数阶理论应用于传统PID控制算法,通过增加积分阶次与微分阶次扩充控制范围。为提高控制参数整定效率,采用改进量子遗传算法对分数阶PID控制参数进行整定。引入黄金正弦策略,增强了优化算法的全局探索与局部开发能力。仿真结果表明,相比较于传统方法,设计的控制器具有更优的响应速度和控制精度。In response to the issues of model uncertainty and low control precision in the attitude control of quadrotor unmanned aerial vehicle(UAV),an attitude controller using quantum-optimized fractional-order PID was designed.The fractional-order theory was applied to the traditional PID control algorithm,expanding the control range by increasing the orders of integration and differentiation.To enhance the tuning efficiency of control parameters,an improved quantum genetic algorithm was used to tune the fractional-order PID control parameters.The golden sine strategy was introduced to strengthen the global exploration and local exploitation capabilities of the optimized algorithm.The simulation results show that compared to traditional methods,the designed controller has superior response speed and control precision.

关 键 词：量子理论 黄金正弦 分数阶PID 姿态控制 四旋翼无人机 

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]