摘要
针对三自由度直升机的飞行高度和飞行速度的跟踪控制,设计了模糊自整定PID控制器.介绍了三自由度实验系统的组成及其数学模型.设计了基于LQR的常规PID控制器和基于模糊控制理论的模糊自整定PID控制器.应用2种方法对直升机的飞行高度和飞行速度进行实时控制.实验结果表明,模糊自整定PID控制有更快的响应速度,更好的稳定性和鲁棒性.
A fuzzy self-tuning PID controller is designed for the 3 degree of freedom（3-DOF） helicopter,in order to control the flight altitude and flight speed of the system.The composition and mathematical model of the 3-DOF helicopter experimental system are introduced.The conventional PID controller based on LQR（linear quadratic regulator） and the fuzzy self-tuning PID controller based on fuzzy control theory are designed.Two methods are applied to controlling the flight altitude and flight speed of the helicopter in real-time.The experimental results show that the fuzzy self-tuning PID controller offers higher response speed,better stability and better robustness.
出处
《信息与控制》
CSCD
北大核心
2010年第3期342-347,共6页
Information and Control
基金
国家自然科学基金资助项目(60874016
50477042)
山东省优秀中青年科学家奖励基金资助项目(2007BS01012)
关键词
三自由度直升机
模糊自整定PID
LQR
实时控制
3-DOF helicopter
fuzzy self-tuning PID
linear quadratic regulator
real-time control
