基于模糊PID的无人机空中加油轨迹跟踪控制

Aerial refueling trajectory tracking control for UAV based on fuzzy PID

提出了无人机空中加油优化流程及基于状态-事件-条件-动作规则的自主决策规则;针对无人机空中加油对接段的轨迹跟踪问题,从无人机单机控制出发,采用模糊控制方法,通过模糊化、确定隶属度、模糊规则推理、解模糊处理得到修正后的PID参数,实现PID参数的实时调整,最终使无人机快速、平稳到达对接位置。通过仿真,验证了自主决策规则及模糊PID算法的有效性,简化无人机的控制逻辑,提升无人机的飞行稳定性,提高飞行品质和作战效能。

The optimization process of aerial refueling and the autonomous decision rule based on the state-event-conditional-action(SECA) rule were proposed to solve the problem of UAV aerial refueling. In view of the trajectory tracking problem of aerial refueling docking section of UAV, based on the single UAV control, fuzzy control method was adopted to obtain the modified PID parameters through fuzzization, membership degree determination, fuzzy rule reasoning and fuzzy processing. The real-time adjustment of PID parameters was realized, and finally the UAV reached the docking position quickly and smoothly. Through simulation experiments, the effectiveness of autonomous decision rules and fuzzy PID algorithm was verified, the control logic of UAV was simplified.The flight stability of UAV, the flight quality and the combat efficiency of UAV were improved.