基于差分进化算法的四旋翼PID参数优化设计

PID Parameter Optimization Design of Quadrotor UAV Based on Differential Evolutionary Aalgorith

针对四旋翼无人机PID控制器参数人工整定困难且难以获得最优控制效果的问题,提出一种基于改进差分进化算法的四旋翼PID控制器参数优化方法。方法首先利用变异、交叉、选择等操作调整PID参数,得出最优的个体;然后引入定向搜索策略,在下次变异操作前,根据上次适应度值比较的结果,决定变异的方向,提高算法的精确度。将改进差分进化算法应用于四旋翼无人机仿真模型,其中串级PID控制器的参数作为差分进化种群进行迭代寻优。仿真结果表明,对比粒子群算法和传统差分进化算法,改进后的差分进化算法能够使控制器稳态误差更小、调节方法更快。

Aiming at the problem that it is difficult to manually determine the parameters of the PID controller of quadrotor UAV and obtain the optimal control effect, a parameter optimization method of quadrotor PID controller based on improved differential evolution algorithm is proposed. Firstly, the PID parameters were adjusted by means of variation, crossover, selection and other operations to obtain the optimal individual. Then, a directional search strategy was introduced to determine the direction of variation according to the comparison results of fitness values before the next variation operation, so as to improve the accuracy of the algorithm. The improved differential evolution algorithm was applied to the simulation model of quadrotor UAV, in which the parameters of cascade PID controller were used as differential evolution population for iterative optimization. The simulation results show that the improved differential evolution algorithm can make the steady state error of the controller smaller and the regulation method faster than the traditional differential evolution algorithm.