适用于测绘四旋翼无人机的模糊PID控制算法及仿真

A fuzzy PID control algorithm for tracking and mapping of four rotor UAV

测绘领域专用的四旋翼无人机平台对稳定性要求较高,但四旋翼无人机控制系统在对地面目标测绘过程中始终存在稳健性差和控制精度低的问题。针对此问题,本文提出了一种适用于测绘无人机的模糊PID控制算法。算法将模糊控制理论与传统PID控制理论相结合,建立PID控制器中的参数、误差及误差率之间的关系,并根据不同情况下的错误和错误率进行参数的适时调整,进而提升了无人机系统的稳健性;分别采用本文算法和现今常用的串级PID算法进行仿真环境下的对比验证,试验结果证明了本文算法的有效性。

In the field of surveying and mapping,the four rotor UAV has a high demand for the stability of the platform,but the control system of the four rotor UAV always has the problems of poor robustness and low control accuracy in the process of Surveying and mapping the ground target.In order to solve these problems,a fuzzy PID control algorithm suitable for surveying UAV is proposed.The algorithm combines the fuzzy control theory with the traditional PID control theory,establishes the relationship among the parameters,errors and error rates in the PID controller,and adjusts the parameters timely according to the errors and error rates in different situations,so as to improve the robustness of the UAV system.The simulation results show that the algorithm is effective.