基于容积卡尔曼滤波-自适应PID的共轴无人机设计

Design of Coaxial UAV Based on Volume Kalman Filter and Adaptive PID

针对PID控制的共轴无人机控制参数不易整定且控制效果较差的问题,设计一款基于容积卡尔曼滤波-自适应PID的共轴反桨无人机。飞行姿态控制方案采用双闭环自适应PID算法,以得到较为理想的姿态控制效果;采用与普通多旋翼不同的气动布局,以得到更长的续航时间与更理想的悬停稳定性。搭建自适应PID控制算法仿真模型,仿真结果显示,相较于PID算法,提出的自适应PID控制算法能够对姿态角进行更为理想的控制,达到稳定且高效的收敛效果,该自适应PID控制算法对共轴无人机的飞行姿态具有良好的控制能力。

In order to solve the problem that the control parameters of coaxial UAV controlled by PID are difficult to be adjusted and the control effect is poor,a coaxial anti-propeller UAV based on Volume Kalman Filter-adaptive PID is designed.The flight attitude control scheme adopts double closed-loop adaptive PID algorithm to obtain ideal attitude control effect,and adopts aerodynamic configuration which is different from ordinary multi-rotor to obtain longer flight duration and better hover stability.The simulation model of adaptive PID control algorithm is built,and the simulation results show that,compared with PID algorithm,the proposed adaptive PID control algorithm can better control the attitude angle and achieve stable and efficient convergence effect.The adaptive PID control algorithm has good ability to control the flight attitude of coaxial UAV.