摘要
小型无人直升机凭借良好的机动特性,在军事和民用方面有着广泛的用途.为了抑制阵风对无人直升机悬停状态的干扰,以悬停状态的横向位置控制为对象,分析了典型PID悬停控制特点,设计了一种加入前馈的模糊PID控制策略.该策略通过在横滚角回路加入加速度前馈环节,抑制初始时刻的扰动;并根据直升机悬停特性制定了模糊规则,利用模糊推理在线调节PID参数,实现横滚角自适应控制.仿真实验结果表明,本文提出的自适应控制策略抑制阵风能力强,动静态性能均优于经典PID控制.
Small - scale unmanned helicopters are widely used in military and civil fields with good maneuvering performance. Study on hover control technology of helicopter with gust wind was done in this paper. And lateral position control was selected as research object, because of its high coupling and unstablility. This paper proposed a control strategy based on feedforward and fuzzy PID method after analysing characters of classical PID control method. Acceleration feedforward module was added to roll angle loop to minimize disturbance at the initial moment. In addition, fuzzy control regulations were made according to characters of helicopter. And PID parameters were changed online with fuzzy inference. The effectiveness of this strategy was verified.
作者
李晓峰
曹力
梁颖茜
王旭辉
LI Xiao-feng CAO Li LIANG Ying-xi WANG Xu-hui(School of Civil Aviation, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China China Academy of Civil Aviation Science and Technology, Beijing 100028, China)
出处
《哈尔滨商业大学学报（自然科学版）》
CAS
2016年第6期740-744,751,共6页
Journal of Harbin University of Commerce：Natural Sciences Edition
基金
国家自然科学基金(61179066)
江苏省产学研联合创新资金-前瞻性联合研究项目(BY2013003-12)
关键词
无人直升机
悬停控制
模糊PID
前馈
unmanned helicopter
lateral positon control
fuzzy PID
acceleration feedforward
