基于模糊PID的无人直升机解耦控制研究

An Unmanned Helicopter Decoupling Control Based on the Fuzzy PID Control Method

针对具有非线性强、多变量耦合的无人直升机,设计了一种基于模糊逻辑PID控制方法,应用于姿态解耦,并且运用混沌优化理论对控制参数进行寻优.经仿真表明,这种方法控制效果好,鲁棒性强,易于工程实现.

The unmanned helicopter is a strong nonlinear and multi-variable coupled system. Baseing on fuzzy PID control method, this paper proposes a decoupling control for the unmanned helicopter. The method can be applied to the unmanned helicopter's attitude decoupling. It can also search for the best control parameters by using the chaos-optimize theory. The simulation result shows that the proposed control strategy can attain high control performance and good robustness, and can be easily realized.