摘要
针对小型无人直升机开环不稳定,通道耦合性较强以及控制较难的问题,设计并实现了基于模糊PID的增稳控制系统。首先从理论上分析了小型无人直升机的操控原理,设计了基于模糊PID控制方法的飞行控制律;然后,分别设计了基于DSP芯片的增稳控制系统硬件平台和软件并具体实现;最后,通过试飞验证了基于模糊PID增稳控制系统的可行性和有效性。实验结果表明文中设计的模糊PID增稳控制系统能够很好地改善小型无人直升机动稳定性,并且系统运行稳定,可靠性高。
The typical characteristics of small unmanned helicopter are unstable, strong coupling and difficult controlling. In this paper, we designed and implemented a stability augmentation control system based on Self Adaptive Fuzzy PID. First, a control principle of small unmanned helicopter was analyzed in theory and a stability augmentation control law was designed, which based on Self-Adaptive Fuzzy PID control methods. Second, the hardware based on I）SP and software of the control system were completed and applied. Finally, during lots of experiments, we tested the feasibility and validity of the system. The results showed that the dynamic stability of small unmanned helicopter could be improved through the stability augmentation control system. In addition, the system could run stably and had high reliability.
出处
《电子测量技术》
2015年第11期70-73,共4页
Electronic Measurement Technology
基金
南京航空航天大学研究生创新基地(实验室)开放基金资助(kfjj201423)
中央高校基本科研业务费专项资金资助
关键词
小型无人直升机
增稳控制系统
模糊PID控制方法
DSP
small unmanned helicopter
stability augmentation control system
Fuzzy PID control methods
DSP
