基于模糊PID的无人机姿态控制器的设计

Design of UAV Attitude Controller Based on Fuzzy PID

针对某型无人机控制器在非线性条件下动态性能欠佳的问题,把容易实现、鲁棒性好的PID控制法与智能模糊控制算法结合,设计出自适应模糊PID无人机姿态控制器。针对隶属度函数过度依赖专家经验的问题,运用遗传算法来优化隶属度函数,使控制效果达到优化。经过仿真验证,所设计的控制器不但有PID控制精度高、易于实现的优点,还有模糊控制器超调小、动态响应快等优点,并且提高了跟踪和抗干扰性能,可以完成准确快速的姿态控制。

The design of adaptive fuzzy PID UAV attitude control uses common PID control method and fuzzy control algorithm,since the membership function is over dependent on expert experience; genetic algorithm is used to optimize the membership function,the optimal control effect. The dynamic performance and robustness of the controller are greatly improved compared with traditional attitude controller,which is proved by simulation.