模糊PID在无人机飞行控制中的应用研究

Research on Application of Fuzzy PID in UAV Flight Control

四旋翼无人机因其体积小、造价低、高机动等特点,在航拍、侦查等军用和民用领域得到广泛应用。本文首先介绍了模糊PID自整定原理,然后以无人机飞行高度控制为例,在分析传统控制方法的基础上,设计了一种模糊自适应PID控制器,利用Matlab/Simulink工具包对控制器进行了仿真,并与传统控制方法进行了比较。结果表明,模糊自适应PID控制器无论在系统响应时间还是稳定性方面,都较传统的PID控制器和模糊控制器有较大的改善。

With the characteristics of small size, low cost, high mobility and so on, the four-rotor UAV are widely used in military and civilian fields such as aerial shot and detection. This paper introduces the principle of fuzzy PID self-tuning in the first place, and then takes UAV flying height control for an example. On the basis of analyzing the traditional control methods, a kind of fuzzy adaptive PID controller is designed to simulate the controller using Matlab / Simulink tool kits and compared with traditional control methods. The results show that the fuzzy adaptive PID controller greatly improves in terms of system response time and stability compared with traditional PID controller and fuzzy controller.