基于遗传算法的四旋翼PID控制器参数整定

Quadrotor PID Controller Parameter Setting Based on Genetic Algorithm

四旋翼作为典型的欠驱动系统,传统情况主要依靠PID控制器进行控制,PID控制器参数对于四旋翼飞行静态性能和动态性能均有较大影响。提出一种基于遗传算法的四旋翼PID控制器参数整定方法,利用遗传算法良好的寻优特性,结合四旋翼自身动力学方程,对传统的四旋翼模糊PID控制器进行参数优化,并通过MATLAB的SIMULINK工具箱仿真验证优化结果的稳定性。

As a typical underactuated system, the four rotor is mainly controlled by the PID controller. The parameters of the PID controller have great influence on the static and dynamic performance of the four rotor. A parameter tuning method of four rotor PID controller based on genetic algorithm is proposed. Using the good optimization characteristics of the genetic algorithm and the self dynamic equation of the four rotor, the parameters of the traditional four rotor fuzzy PID controller are optimized, and the stability of the optimization results is verified by the SIMULINK toolbox of MATLAB.