基于层次分析遗传算法PID参数整定的四旋翼控制系统

Genetic Algorithm Based on Analytic Hierarchy Process PID Parameter Tuning of Quad-rotor Control System

分析了四旋翼飞行器控制的欠驱动、强耦合等问题,利用牛顿—欧拉方程建立四旋翼飞行器的动力学模型;对该模型合理简化后,设计一种由内环姿态控制和外环位置控制组成的双回路PID控制器。针对系统的静态特性、动态特性和可靠性等要求,将系统分为系统层、子系统层和参数层,建立系统的多目标优化指标,运用层次分析遗传算法对系统进行PID参数整定。将控制器和整定得到的参数用于四旋翼飞行器系统后,室外飞行实验表明飞行器能在室外做满足工程精度要求的飞行。

The control problems of quad-rotor flight with under-actuated control,and strong coupling were analyzed.With a simplified dynamic model of quad-rotor based on Newton-Euler equation,was desinged a double-loop PID controller which consists of the inner attitude control and out position control.According to the requirements such as static characteristics,dynamic performance and reliability,the system is divided into the system layer,subsystem layer and parameters layer.Afer establishing the multi-objective optimization index,the method of analytic hierarchy genetic algorithm was used for PID parameters determining.Then outdoor flight experiments were conducted with the controller and parameters obtained.The experimental results show that the aircraft can meet the engineering accuracy requirement of a out door flight.