小型无人直升机悬停状态自适应模糊PID控制器设计

Adaptive Fuzzy PID Controller Based on Hovering Small-size Unmanned Helicopters

小型遥控直升机在实际应用中主要是完成航拍,为了实现小型直升机水平姿态的自动平衡,将其升级为无人直升机。针对小型直升机的降阶模型,提出了一种便于单片机实现的、针对悬停作业时小型无人直升机自适应模糊PID控制器的设计方法,能对PID参数进行动态整定,实现无人直升机悬停状态时水平姿态的平衡,仿真实验表明,自适应模糊PID控制器的动态性能好、稳态精度高、鲁棒性较强,宜适用于小型无人直升机的增稳控制。

The small-size remote-control helicopter is used to take aerial photographs and reconnaissance in practical application.In order to achieve horizon attitude self-balancing and upgrade to the unmanned helicopter,a design method of adaptive fuzzy PID controller for hovering operation of small unmanned helicopter is put forward,which is easy to realiz for MCU, and the method can make the small-size unmanned helicopter reach horizon attitude hovering balance with self-adjusted dynamic PID parameters.The simulation shows that the adaptive fuzzy PID controller has good dynamic performance,high steady-state accuracy and strong robustness.