基于四旋翼无人机姿态控制的自耦PID算法优化

Optimization of Attitude Control of Quadrotor Based on SC-PID

针对四旋翼无人机控制超调量大和响应速度慢的问题,在基于自耦PID的四旋翼无人机姿态控制的基础上对自耦PID控制算法进行了优化。首先建立四旋翼无人机的非线性数学模型,进而得出横滚角、俯仰角、偏航角的传递函数;然后结合自耦PID的控制律和飞行控制律,分析原有速度因子的自适应模型;创新点在于将速度因子中的参数与模糊控制相结合来减少系统响应时间和超调量。数字仿真实验结果表明:优化后的自耦PID控制算法,具有更加良好的可控性能。

Aiming at the problem of large overshoot and slow response of quadrotor UAV,the self-coupled PID control algorithm is optimized based on the attitude control of quadrotor UAV based on self-coupled PID.Then combined with the control law of self-coupled PID and flight control law to analyze the adaptive model of the original speed factor.The innovation is to combine the parameters of speed factor with fuzzy control to reduce system response time and overshoot.Digital simulation results show that the optimized self-coupling PID control algorithm has better controllability.