基于单神经元PID控制器的四旋翼飞行器航迹控制  

Quadrotor Track Control Based on Single Neuron PID Controller

作　　者：罗林[1] 李中志[1] Lin Luo;Zhongzhi Li(Chengdu University of Information Technology, Chengdu Sichuan)

机构地区：[1]成都信息工程大学,四川成都

出　　处：《国际航空航天科学》2017年第3期136-142,共7页Journal of Aerospace Science and Technology

摘　　要：四旋翼飞行器从起点平滑旋进飞向终点,为控制飞行器稳定飞行,首先建立数学模型和运动力学模型,在此基础上设计双闭环单神经元PID控制器,并根据其动力学特性分析加速度对航迹跟踪,使飞行器飞行轨迹稳定。模型的建立与仿真实验都采用Matlab/Simulink平台,仿真结果证实此方法的可行性。Quadrotor is from initial point flying to target point smoothly, keeping hovering motion. In order to control the stability of flying, the mathematical model and the dynamic model are established firstly. On the basis, the single neuron PID controller is designed. According to the characteristics of the dynamic model, acceleration is analyzed to track path so as to achieve the stability of flight. The establishment of model and the simulation experiment of model are based on Matlab/Simulink platform, and the result of simulation proves the practicability of this method.

关 键 词：四旋翼无人飞行器 单神经元PID控制器 加速度 航迹跟踪 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]