四旋翼无人机的姿态稳定控制器设计仿真

Design and Simulation of Attitude Stabilization Controller for Quadrotor UAV

通常无人机系统是不稳定的,姿态稳定控制至关重要,维持姿态的稳定可以保证安全性、更好的飞行体验、成功地执行任务。非线性特性导致姿态稳定控制成为难点,国内外研究人员致力于寻找合适的方法来解决这一问题,为此提出了一种模糊PID的新型复合控制算法用来稳定四旋翼无人机姿态。该算法能够实时更新PID控制器的比例、积分、微分参数Kp、Ki、Kd,从而稳定四旋翼的姿态。为了研究这种新型复合算法的性能,对四旋翼进行建模后,利用MATLAB对其进行仿真,并与传统PID进行对比。仿真结果表明,在响应时间以及调节时间上,其性能比传统PID更加优越。

Usually UAV systems are unstable and attitude stabilization control plays a very important role. To maintain the stability of the attitude can ensure safety, better flight experience, the successful implementation of the task. Nonlinear characteristics of attitude stability control is a difficult problem, researchers at home and abroad are working on finding the right solution to this problem, so we present a new adaptive hybrid Fuzzy Logic based PID Con- trol algorithm for attitude stabilization of quadrotor. The algorithm can real - time update PID controller proportional, integral and differential parameters Kp, Ki, Kd, so as to stabilize quadrotor＇s attitude. In order to study this new hybrid algorithm, after modeling the quadrotor, it is simulated on MATLAB and compared with conventional PID controller. Simulation results proves that the proposed adaptive hybrid Fuzzy Logic based PID controller has better results in the term of response time and settling time than the conventional PID controller.