基于自适应模糊PID控制的四旋翼飞行器的自主跟踪

Autonomous tracking for a quadrotor based on adaptive fuzzy PID control

为了提高四旋翼飞行器控制系统的动态性能和工作效率,研究了自适应模糊PID控制。目前在实际应用中,四旋翼的控制算法主要采用经典PID算法和模糊控制算法,然而经典PID算法,系统容易超调,动态性能较差;模糊控制算法,系统的稳态误差难以消除,工作效率不高。为此采用了经典PID与模糊控制的分段策略,提出了一种新的控制算法:当误差较大时,为提高系统的动态性能,控制器选取模糊控制算法;当误差较小时,为减小稳态误差,提高工作效率,选取经典PID算法。完成了悬停飞行实验,对自适应模糊PID、模糊控制和经典PID三种控制算法进行性能对比,结果表明自适应模糊PID算法能有效解决上述问题。采用自适应模糊PID算法完成了自主跟踪实验,将该算法成功应用到导航制导领域。

The adaptive fuzzy PID control was studied to improve the dynamic performance and work efficiency of a quadrotor aircraft＇s control system. At present, in practical con method and the fuzzy control method. However, the classic PID trol, easil namic performance for the system; and the fuzzy PID control causes quadrotor aircrafts mainly use the classic PID Y th causes the overshoot so bringing the poor dy- e poor system response and low working effi- ciency for the system. To solve the problem, a new control algorithm was presented by using the segmentation strat- egy for the classical PID and the fuzzy control. The fuzzy control algorithm is used to improve the dynamic perform- ance when the error of the system is big; and the classic PID algorithm is used to reduce the static error and im- prove the work efficiency when the error of the system is small. The hovering flight experiment was implemented. The control effects of the three algorithms of adaptive fuzzy PID, fuzzy Control and classical PID were contrasted The results show that the adaptive fuzzy PID algorithm can effectively solve the above-mentioned problem. Finally, the autonomous self-tracking experiment for the system using the adaptive fuzzy PID algorithm was completed, and the algorithm was perfectly applied to the navigation guidance field