倾转四旋翼无人机的模糊PID飞行控制

The Fuzzy-PID Flight Control for Tilting Four-rotor UAV

分析了倾转四旋翼无人机的飞行模式,通过改变电机的转速实现了对无人机飞行姿态的控制,建立了无人机的运动学方程组。基于模糊控制理论设计了模糊PID飞行控制系统,优化了传统的PID控制方法。通过运用MATLAB/SIMULINK软件仿真,提高了无人机在垂直模式下的响应性能和飞行稳定性。

The flight mode of tilting four-rotor UAV was analyzed.The flight attitude of the UAV was controlled by changing the speed of the motor.The kinematics equations of the UAV were established.Based on the theory of fuzzy control, the flight control system of fuzzy PID was designed, and the traditional PID control method was optimized.By MATLAB/SIMULINK software simulation, the response performance and flight stability of the UAV in vertical mode were improved.