双旋翼系统的PID参数模糊自整定控制器

Fuzzy Self-Adjusting Controller of PID Parameter in TRMS

双旋翼多输入多输出系统TRMS由于非线性和强耦合,难以建立数学模型和控制,故提出PID参数模糊自整定的控制方法。利用MATLAB设计PID参数模糊自整定控制器,并进行了仿真和实际应用。与常规PID控制相比,PID参数模糊自整定控制不需要建立精确的数学模型,还可及时在线调整PID参数,获得了较好的控制效果。

Because of the non-linearity and close coupling, it is difficult to establish mathematics model and control for twin rotor multi-input and multi-output system （TRMS）. Therefore, the self-adjusting control measure of PID parameter fuzzy is proposed. The MARBLE was used to design the self-adjusting fuzzy controller of PID parameters, and the simulation and application were carried out. Compared with the general PID measures, the self-adjusting fuzzy control measure of PID parameter needn＇t depending on precise mathematics model and PID parameters could be adjusted on line in time. At the same time, the better control effect could be achieved.