摘要
针对三自由度直升机姿态控制中采用传统PID控制效果不理想的问题,本文设计了一种自适应模糊PID控制方法。该方法依据专家经验并结合实验数据确定了模糊规则,然后利用模糊控制来自适应调整PID参数值,从而实现对三自由度直升机俯仰角度和旋转速度更有效的跟踪控制。通过与PID实验结果进行对比,表明本文所设计的自适应模糊PID控制具有调节时间短、超调小、静态误差小的优点,控制效果更佳。
This paper designs a kind of fuzzy self-tuning PID control method, in order to improve the poor attitude controlling effects of 3-DOF helicopter by using PID control. The method determines the fuzzy rules based on expert experience and considering experimental data, and then uses fuzzy methods to tune the parameters of PID controller, so as to track the 3-DOF helicopter＇s pitch angle and rotation speed more effectively. Compared with the PID method, experiments show that the fuzzy self-tuning PID control can achieve shorter setting time, smaller overshoot and static error.
出处
《电子设计工程》
2017年第11期73-76,80,共5页
Electronic Design Engineering
基金
国家自然科学基金项目(61104186
61273076)
