四旋翼无人机飞行姿态稳定性优化控制研究

Study on Optimization of Flight Attitude Stability of Quad-Rotor UAV

在四旋翼无人机控制系统的姿态稳定性研究中,控制系统具有非线性、强耦合、易受外界噪声等干扰的控制难点。而四旋翼无人机的姿态稳定控制至关重要。针对控制上的难点和传统单一控制算法的局限性,提出变论域思想在四旋翼无人机控制系统上的应用。应用上结合了变论域思想和常规模糊PID控制两者优点,设计了变论域模糊PID算法的控制器,提高了常规模糊PID的模糊推理能力,并通过模糊推理实现PID三个参数的在线自整定。分别对普通PID、模糊PID、变论域模糊PID三个算法设计的无人机控制系统的仿真曲线进行对比。结果表明,变论域模糊PID控制算法拥有更好的控制效果,具有响应速度快、超调量更小和稳定性更优的特点。

In the study on the attitude stability of Quad- rotor unmanned aerial vehicle （UAV） control system, the control system has the characteristics of non - linearity, strong coupling and susceptibility to external noise, and the stability control of the Quad - rotor UAV is very important. Due to the difficulty of control and the limitation of traditional single control algorithm, the application of variable universe theory in Quad - rotor UAV control system is proposed. Based on the combination of variable universe theory and conventional fuzzy PID control, a controller of variable universe fuzzy PID algorithm was designed to improve the fuzzy reasoning ability of conventional fuzzy PID and realize the three parameters of PID by fuzzy reasoning Self - tuning. The simulation curves of the UAV control system designed by the three algorithms of ordinary PID, fuzzy PID and variable universe fuzzy PID were compared respectively. The results show that the variable universe fuzzy PID control algorithm has better control effect and the characteristics of fast response, less overshoot and better stability.