无人机起飞控制系统模糊控制器设计仿真研究

Fuzzy Controller Design and Simulation for Departure Control System of UAV

在固定翼无人机的起飞控制系统优化中,为了提高无人机起飞的稳定性,提出了一种非线性模糊控制器,重点解决横侧向的滑跑纠偏控制问题。横侧向采用侧向偏差和侧向速度组合的PID控制结构,设计了模糊控制器,以解决跑道精准定位与消除侧偏角和侧偏距的矛盾,保证滑跑纠偏控制率的快速性和准确性。首先,建立了滑跑起飞横侧向控制模型和工作原理;其次,分运行模型、推理系统设计、规则库确定、程序流程设计四个部分设计了非线性模糊控制器;最后,采用Matlab对控制器的基本性能进行了仿真验证,并对比例因子对模糊控制器性能的影响进行分析。最后得出所设计的模糊控制器对无人机起飞横侧向控制系统具有良好的控制效果。

This paper deals with the problem of fuzzy controller design for the lateral taxiing deviation correction control of UAV.To eliminate lateral deviation and lateral velocity,the lateral taxiing deviation correction control law has the interpolated variant-parameter PID controller and the fuzzy controller.First,the model and operating principle of lateral taxiing control system is introduced.Second,the nonlinear fuzzy controller is designed with the basic structure in terms of running model,fuzzy inference system,rule base,and fuzzification procedure.Finally,a numerical example is provided to demonstrate the validity of the proposed design approach,and the result shows that the designed fuzzy controller has optimal control performance.