四旋翼飞行器悬停模式ITAE最优PID控制

Quad-Rotor Aircraft Hovering Mode ITAE Optimal PID Control

针对传统的比例-积分-微分(PID)闭环算法在四旋翼飞行器姿态控制中存在的参数整定繁琐、闭环零点导致系统超调量增大的问题,根据系统动态性能指标要求,通过改进传统PID控制算法,设计了基于时间与绝对误差积分(ITAE)性能指标下带前置滤波的最优PID控制算法。使用Matlab软件Simulink工具对传统PID控制与带前置滤波的最优PID控制两种算法进行对比实验,结果表明:采用带前置滤波的最优PID控制,调节时间小于0.5 s,超调量小于5%,在保证系统动态响应快的同时有效抑制了闭环零点对超调量的影响,提升了控制品质,优于传统PID控制。

In attitude control of quad-rotor aircraft, （PID）closed-loop algorithm has the problems of complex zero. According to the system dynamic performance the conventional Proportion-Integration-Differentiation parameter tuning, and large overshoot due to closed-loop requirements, and by improving the traditional PID control algorithm, an optimal PID algorithm with pre-filtering performance is designed based on the time and the Integral Absolute Error （ITAE） indicators. Matlab-Simulink is used for making contrast experiment to the traditional PID control and optimal PID control with pre-fihering algorithm. The results showed that ： 1 ） The optimal PID control with pre-filter has an adjusting time less than 0.5 s, and overshoot less than 5%, which can effectively suppressing the impact of closed-loop zero on the overshoot while guaranteeing rapid system response;and 2） The proposed method has higher control quality, and is better than traditional PID control.