基于大气紊流的四旋翼无人机智能控制策略

Intelligent Control Strategy of Quadrotor UAV Based on Atmospheric Turbulence

四旋翼无人机执行任务时会受到大气紊流对姿态的干扰,为此提出一种运用变论域模糊理论优化传统PID控制器的方法。根据运动学方程建立了控制精度更为准确的四旋翼无人机非线性模型。由于大气紊流具有随机性强的特点,基于Dryden模型得到了大气紊流的分量模型。考虑到传统PID控制器抗干扰能力不足,因此,结合可变论域模糊控制设计出了变论域模糊自适应PID控制器。在Simulink环境下对两种控制器先后加入了大气紊流和阶跃响应干扰进行仿真比较,结果显示,优化后的控制器鲁棒性和稳定性均优于PID传统控制器。

The attitude of the quadrotor UAV will be disturbed by atmospheric turbulence when UAV performing tasks.Therefore,a method to optimize the traditional PID controller using variable domain fuzzy theory is proposed.According to the kinematic equation,a nonlinear model of quadrotor UAV with more accurate control accuracy is established.Due to the strong randomness of atmospheric turbulence,the model of components of atmospheric turbulence is obtained by using the Dryden model.Considering the lack of anti-interference ability of traditional PID controller,a variable domain fuzzy adaptive PID controller is designed by using variable domain fuzzy control.In the Simulink environment,the two controllers are compared through simulations after successively adding atmospheric turbulence and step response disturbance.The results show that the optimized controller has better robustness and stability than the traditional controller.