基于模糊PID控制的模型直升机自主返回系统

A Model Helicopter Self-return System Based on Fuzzy PID Control

旨在设计一架具有自主返回模块及增稳模块的模型直升机,该直升机以C8051F020单片机作为机载部分控制器,运用无线收发模块实现与地面站的通信。本文介绍了模型直升机自主返回系统各模块的功能及实现,用系统辨识法分通道建立了直升机模型,详细描述了基于参数寻优的模糊自适应PID控制器的设计方法,运用Simulink进行性能分析,结果表明所设计的增稳控制系统结构合理可行,满足实时性和可靠性要求。本文设计的模型直升机可完成悬停、返回、着陆等简单的自主飞行任务,为后续舰载小型模型直升机自主起降开发与验证平台的研制奠定了基础。

This article is for the purpose of designing a model helicopter with a self-return module and a stability augmentation module,the helicopter uses C8051F020 MCU as its controller,and uses the wireless transceiver module for communication with ground station.This article introduces the function and realization of each module of the model helicopter self-return system.System identification method is used to establish each channel of helicopter＇s mathematical model.A detailed description of controller＇s design method is given.The controller is Fuzzy adaptive PID control based on the parameters optimization.The performance is simulated by Simulink.The results show that the structure of the stability augmentation control system is reasonably and practicable,and meet the requirements of real time nature and reliability.The helicopter this article designed can complete simple aerial missions,such as hovering,return,landing,etc.This article lays the foundation for the subsequent development and validation of small ship-borne model helicopter independent taking off and landing platform.