摘要
为解决微型四旋翼无人机控制系统存在的鲁棒性差和控制精度低的问题,提出一种模糊PID控制方法。建立微型四旋翼无人机系统动力学数学模型和电机模型,在系统模型的基础上设计模糊PID控制器。通过Matlab/Simulink仿真和飞行试验对所设计的模糊PID控制器的有效性进行验证。仿真实验表明,该算法能提高系统的抗干扰性能和控制精度。飞行试验结果表明,模糊PID控制器可以有效地控制微型四旋翼无人机。
In this paper, a fuzzy-PID control is proposed to improve the robustness and control accuracy of control systems for micro-quadrotor unmanned aerial vehicle （UAV）. The dynamic model and rotor model are modeled and fuzzy controller is designed based on the control system model. Matlab/Simulink simulation results and fly testing results are shown to illustrate the effectiveness of the developed fuzzy-PID controller for rejecting disturbance. Experiment result shows that the arithmetic can improved system’s anti-interference performance and control accuracy. Fly testing result shows fuzzy-PID controller can control the quadrotor UAV effectively.
出处
《兵工自动化》
2014年第6期58-62,共5页
Ordnance Industry Automation
基金
四川省科技厅科技支撑计划项目(2013GZX0152)
绵阳市科技局科技计划项目(13G003-3)
四川省科技创新苗子工程项目(20132066)
