基于模糊ACPID的固定翼无人机俯仰控制  

Pitch Control of Fixed Wing Unmanned Aerial Vehicle Based on Fuzzy ACPID

作　　者：梅秀庄[1,2] 孙磊 徐刚 汤坤伟[1] MEI Xiuzhuang;SUN Lei;XU Gang;TANG Kunwei(School of Mechanical Engineering,Inner Mongolia University of Technology,Huhhot,Inner Mongolia 010051,China;Inner Mongolia Autonomous Region Key Laboratory of Advanced Manufacturing Technology,Huhhot,Inner Mongolia 010051,China)

机构地区：[1]内蒙古工业大学机械工程学院,内蒙古呼和浩特010051 [2]内蒙古自治区先进制造技术重点实验室,内蒙古呼和浩特010051

出　　处：《自动化应用》2025年第7期46-51,共6页Automation Application

基　　金：国家自然科学基金项目(52365019);内蒙古自然科学基金面上项目(2023MS05030);内蒙古自治区关键技术攻关计划(2021GG0346);自治区直属高校基本科研业务费项目(JY20230094)。

摘　　要：针对固定翼无人机俯仰控制的传统PID方法存在超调较大、鲁棒性弱的不足,提出一种基于模糊优化的自耦PID(ACPID)的控制方法。首先,以某型固定翼无人机为例求取其俯仰传递函数;其次,提出一种改进的自适应速度因子模型,实现比例-积分-微分环节的自动耦合;最后,利用模糊规则实现了ACPID的参数自动整定,并验证所提方法的有效性。仿真结果表明,固定翼无人机的模糊ACPID俯仰控制具有超调小、抗扰动鲁棒性好、响应速度快等优点。A fuzzy optimization based Auto Coupling PID(ACPID)control method is proposed to address the shortcomings of traditional PID methods for pitch control of fixed wing unmanned aerial vehicles,such as large overshoot and weak robustness.Firstly,taking a certain type of fixed wing unmanned aerial vehicle as an example,calculate its pitch transfer function.Secondly,an improved adaptive speed factor model is proposed to achieve automatic coupling of the proportional integral derivative process.Finally,the automatic parameter tuning of ACPID was achieved using fuzzy rules,and the effectiveness of the proposed method was verified.The simulation results show that the fuzzy ACPID pitch control of fixed wing unmanned aerial vehicles has the advantages of small overshoot,good anti-interference robustness,and fast response speed.

关 键 词：固定翼无人机 俯仰控制 模糊ACPID控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]