基于四旋翼无人机模糊PID控制系统研究

Research on Fuzzy-PID Control System of Four-Rotor UAV

为了进一步提高四旋翼无人机的飞行稳定性以及控制精度,必须建立高效的无人机飞行控制系统,将现代化的控制理论与传统理论相结合,充分利用PID控制器,改善内回路的动态特性与稳定性,完成四旋翼无人机的飞行控制。本文阐述四旋翼无人机国内外发展现状,对四旋翼无人机的基本结构与飞行原理进行分析,对模糊PID仿真平台的建立进行具体研究。

In order to further improve the flight stability and control accuracy of the Four-rotor UAV, it is necessary to establish an efficient flight control system for the Four-rotor UAV, which combines modern control theory with traditional theory, makes full use of the PID controller, improves the dynamic characteristics and stability of the inner loop, and completes the flight control of the Fourrotor UAV. In this paper, the development status of Four-rotor UAV at home and abroad is described, the basic structure and flight principle of Four-rotor UAV are analyzed, and the establishment of fuzzy PID simulation platform is studied in detail.