摘要
为解决四旋翼飞行器姿态控制器存在的响应速度慢和鲁棒性差等问题,通过串级模糊PID控制算法来实现飞行姿态的稳定性。建立起四旋翼飞控系统的数学模型后,设计了外环角度P控制器和内环角速度模糊PID控制器。利用Matlab/Simulink通过阶跃信号输入对比仿真传统PID控制器和串级PID控制器、串级模糊PID控制器3种控制方法。仿真结果表明:串级模糊PID控制器使系统抗干扰性能提高,同时加快系统的响应性和准确性;飞行实验表明:串级模糊PID控制算法的鲁棒性好。可见改进后的算法对于四旋翼控制系统是有效的。
In order to solve the problems of slow response and poor robustness of the four-rotor attitude controller,the stability of the flight attitude was realized using the cascade fuzzy PID control algorithm.After establishing the mathematical model of the four-rotor flight control system,the inner ring angular velocity fuzzy PID controller and the outer ring angle P controller were designed.The three control methods of traditional PID controller,cascade PID controller and cascade fuzzy PID controller were simulated using Matlab/Simulink to compare the step signal.The simulation results showed that the cascade fuzzy PID controller improves the anti-interference performance of the system and accelerates the responsiveness and accuracy of the system.The flight experiments showed that the cascade fuzzy PID control algorithm was robust.It can be seen that the improved algorithm was effective for a quadrotor control system.
作者
张驰洲
熊根良
陈海初
ZHANG Chizhou;XIONG Genliang;CHEN Haichu(School of Mechanical and Electrical Engineering,Nanchang University,Nanchang 330031,China)
出处
《南昌大学学报（工科版）》
CAS
2019年第3期285-290,共6页
Journal of Nanchang University(Engineering & Technology)
基金
国家自然科学基金资助项目(51265034
61763030
61263045)
作者简介
张驰洲(1995-),男,硕士生,712091209@qq.com;通信作者:熊根良(1978-),男,副教授,博士,xionggenliang@ncu.edu.cn。
