基于滑模PID的飞行机械臂稳定性控制

Research on stability control of flight manipulator based on sliding mode PID

机械臂与旋翼飞行器之间的耦合运动、系统自身的欠驱动特性以及外界的不确定干扰,都会影响旋翼飞行器的稳定性控制。为提高整个系统的飞行稳定性,考虑到波动输入信号和外界扰动的影响,该文建立了飞行机械臂的动力学模型,设计了一种基于滑模PID控制方法的指数趋近率控制器。与传统的PID控制方法相比,该方法不仅能够减弱外界不确定干扰的影响,准确快速地对飞行器进行姿态稳定,而且缩短了调节时间,增强了飞行器的自身稳定性和鲁棒性。

The coupling motion between the manipulator and the rotorcraft,the system’s underactuated characteristics and the uncertain external disturbances have influences on the control of the stability of the rotorcraft.Based on the dynamic model of the rotorcraft and the sliding mode PID control method,a controller with the exponential approximation rate is designed to improve the stability of system control considering the influence of the fluctuation control signal and the external disturbance.Compared with the traditional PID control method,this method can reduce the influence of uncertain interference from the outside,make the attitude of the aircraft more stable and accurate,shorten the adjustment time and enhance stability and robustness of the aircraft.