基于P-PID控制器对共轴双旋翼飞行器的姿态控制

Attitude Control of Coaxial-Rotor Helicopter Based on P-PID Controller

针对共轴双旋翼飞行器的姿态控制传统PID算法效果不理想,难以获得满意的控制效果,设计了P-PID控制器实现飞行器姿态控制。利用串级PID对共轴双旋翼飞行器的角度、角速度进行控制。仿真实验和飞行试验表明,算法满足飞行器系统的设计要求,验证了算法的可行性。

For the problem that the attitude control algorithm for Coaxial-Rotor helicopter is not ideal,it is difficult to obtain satisfactory control effect,P-PID controller for attitude control of coaxial-rotor helicopter is designed.This algorithm uses cascade PID to control the angle and angular velocity loop of Coaxial-Rotor helicopter.Simulation experiments and flight tests show that the control algorithm meets the design requirements of the aircraft system and verifies the feasibility of the algorithm.