四旋翼农药喷洒飞行器模糊PID姿态控制

Fuzzy PID Attitude Control of Quadrotor Pesticide Spraying Aircraft

针对四旋翼农药喷洒飞行器在作业过程中负载发生变化影响飞行器作业中稳定性的问题,设计模糊PID(Proportion Integration Differentiation)控制器,运用MATLAB软件搭建飞行器模糊PID控制系统与传统PID控制系统Simulink仿真模型,并对飞行器姿态进行仿真。仿真结果显示,与传统PID相比,在飞行器质量发生改变后,模糊PID控制系统适应性强,参数整定简单。飞行器质量改变后,模糊PID控制算法比传统PID超调量降低4.8%,上升时间减少0.513s,系统恢复时间减少0.790s。结果表明,模糊PID控制系统比传统PID控制系统响应速度快,控制效果好,鲁棒性较强,进一步提高了飞行器在农药喷洒过程中的稳定性。

Aiming at the change of load during the operation of four-rotor pesticide spraying aircraft during operation and the problem of stability in the operation of aircraft, a fuzzy PID controller is designed, the fuzzy PID control system and the Simulink simulation model of traditional PID control system are built by using MATLAB software and the attitude simulation of the aircraft is carried out. The simulation results show that compared with the traditional PID, the fuzzy PID control system has a strong adaptability and simple parameter setting after the vehicle mass changes. Before and after the quality change of the aircraft, the fuzzy PID control algorithm is 4.8% lower than the traditional PID overshoot, the rise time is reduced by 0.513s, and the recovery time of the system is reduced by 0.790s. The experimental results indicate that the fuzzy PID control system is faster in response, better in control effect and stronger in robustness than the traditional PID control system, and further improves the stability of the aircraft in the process of pesticide spraying.