摘要
为了提高无人机执行任务的能力,在对三维导航研究的基础上,进行了包括按时到达目标点的四维导航系统设计,给出了导航过程中高度和速度的求解方法;然后分别设计了基于自适应模糊PID的高度和速度控制器,并将其用于无人机的四维导航中;仿真结果表明,与传统的PID控制相比,基于自适应模糊PID设计的控制器能很好的改善控制器性能,具有超调小、响应快、稳态精度高的优点,能够精确实现无人机的四维航迹控制。
In order to improve the ability of the UAV to perform the task,this paper designs the 4D navigation structure chart including the on-time arrival point on the basis of the 3D navigation,and gives the method of solving the height and speed in the navigation process respectively.Then,the height and speed controller based on adaptive fuzzy PID is designed and applied to the 4D navigation of UAV.The simulation results show that compared with the traditional PID control,the controller based on adaptive fuzzy PID design has the advantages of small overshoot,fast response and high steady state precision,and can meet the requirement of UAV's 4D trajectory control.
出处
《计算机测量与控制》
2018年第1期107-109,114,共4页
Computer Measurement &Control
