|本期目录/Table of Contents|

[1]梁雪慧,闫粉粉,邵晓龙.模糊自整定PID在四旋翼飞行器姿态控制中的应用[J].工业仪表与自动化装置,2015,(06):23.
　LIANG Xuehui,YAN Fenfen,SHAOo Xiaolong.An application of a fuzzy self-tuning PID controller in quadrotor attitude control[J].Industrial Instrumentation & Automation,2015,(06):23.
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模糊自整定PID在四旋翼飞行器姿态控制中的应用(PDF)

《工业仪表与自动化装置》[ISSN:1000-0682/CN:61-1121/TH]

卷:
期数:
2015年06期
页码:
23
栏目:
出版日期:
2015-12-15

文章信息/Info

Title:
An application of a fuzzy self-tuning PID controller in quadrotor attitude control
文章编号:
1000-0682（2015）06-0000-00
作者:
梁雪慧1; 闫粉粉1; 邵晓龙2
（1. 天津理工大学 自动化学院，天津 300384；2. 天津市环境保护科学研究院，天津 300191）
Author(s):
LIANG Xuehui1;  YAN Fenfen1;  SHAOo Xiaolong2
(1. School of Electrical Engineering, Tianjin University of Technology, Tianjin 300384, China；2. Tianjin Academy of Environmental Sciences, Tianjin 300191, China)
关键词:
四旋翼飞行器; PID; 模糊自整定PID
Keywords:
quadrotor aerocraft; PID control; fuzzy self-tuning
分类号:
TP13
DOI:
-
文献标志码:
A
摘要:
四旋翼飞行器在结构简单以及对飞行环境要求低的优势下，使其应用极其广泛。四旋翼飞行器的姿态控制是决定飞行性能的关键，目前，应用较成熟的控制方法仍为PID控制，但是四旋翼飞行器的姿态之间存在非线性的耦合，使得控制参数整定有难度，PID控制器对其姿态的调整会出现较大的超调量，或者较长的调节时间。该文综合了模糊控制和PID控制各自优势，设计了模糊自整定PID控制器，能够实现参数的自整定。仿真结果显示，所设计的控制器能够有效抑制系统超调量、提高响应速度。
Abstract:
Quadrotor aerocraft in the advantages of simple structure and low environmental requirements for flying, make its application widely.The attitude control of a quadrotor aerocraft is the key to guarantee its flight performance. Although the PID control method remains to be used wildly, it tends to appear large system overshoot,or long regulation time because of quadrotor aerocraft’s nonlinearity which enhances the difficulty to adjust the control parameters. As to the nonlinear dynamic model of a quadrotor, a fuzzy self-tuning PID controller is designed. The controller effectively utilizes the advantages of both fuzzy control and PID control, and regulates control parameters in real time. The simulation results show that the controller can effectively suppress the overshoot and cut down the response time.

参考文献/References:

[1] 张浩然.四旋翼直升机控制系统设计与实现[D].哈尔滨:哈尔滨理工大学,2014:1-6.

[2] S Bouabdallah, R Siegwart. Backstepping and Sliding- mode Techniques Applied to an Indoor Micro Quadrotor[C].IEEE Conference on Robotics an Automation, 2005:2247-2252.
[3] 杨明志.四旋翼飞行器自动驾驶仪设计[D].南京:南京航空航天大学, 2008.
[4] 宋述锡.四旋翼无人直升机控制算法研究[D].沈阳:沈阳航空航天大学,2012.
[5] 李成智.飞机百年发展与空气动力学[J].力学与实践, 2003, 25(06): 1-13.
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[7] 聂博文,马宏绪,王剑.微小型四旋翼飞行器的研究现状与关键技术[J].电光与控制,2007,14(6):
[8] 王璐.四旋翼无人飞行器控制技术研究[D].哈尔滨: 哈尔滨工程大学, 2011.
[9] 杨云高,鲜斌,殷强,等.四旋翼无人飞行器架构及飞行控制的研究现状[C].中国自动化学会控制理论专业委员会,中国控制会议第三十届论文集C卷,2011: 448-453.
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[11] Rashid, M.Imran. Adaptive control of a quadrotor with unknown model parameters[C].Proceedings of 2012 9th International Bhurban Conference on Applied Sciences and Technology, 2012: 8-14.

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备注/Memo

备注/Memo:
收稿日期：2015-03-31
基金项目：天津市科技特派员项目 (14JCTPJC00510)；天津市科技计划资助项目（13ZCZDGX03800）
作者简介：梁雪慧（1970），女，河北省藁城市人，副教授，主要研究领域为先进控制理论。
更新日期/Last Update: 1900-01-01