基于模糊PID的四旋翼无人机飞行姿态控制

Flight attitude control of quadrotor UAV based on fuzzy PID

为了提高四旋翼无人机飞行姿态遇到扰动时的调整速度,将模糊控制理论引入传统PID控制器,通过模糊法则调节PID参数,设计模糊PID控制器。基于小型四旋翼无人机的非线性动力模型,选择模糊规则,对控制方程中相应的变量进行模糊化;在Simulink环境下,以阶跃信号作为输入,考察模糊PID控制器的动态性能,结果显示:与传统PID控制器相比,模糊PID控制器可以将偏航角调整时间缩短至67.1%,超调量缩小至65%,有效提高四旋翼无人机的飞行姿态调整质量。

In order to improve the adjusting speed of quadrotor UAV when the flight attitude encounters disturbance,the fuzzy control theory is introduced into the traditional PID controller,and the PID parameters are adjusted by the fuzzy law,to design a fuzzy PID controller.Based on the nonlinear dynamic model of small quadrotor UAV,the fuzzy rules are selected,and the corresponding variables in the control equation are fuzzy.In the Simulink state,the step signal is used as input to investigate the dynamic performance of the fuzzy PID controller.The results show that compared with the traditional PID controller,the fuzzy PID controller can shorten the yaw angle adjustment time to 67.1%,and reduce the overshoot to 65%,which can effectively improve the flight attitude adjustment quality of the quadrotor UAV.