基于改进遗传算法的四旋翼无人机PID控制参数整定

PID Control Parameter Tuning for Quadrotor UAV Based on Improved Genetic Algorithm

四旋翼无人机是一种多输入、多变量、强耦合、欠驱动的复杂系统,对控制算法要求高,而PID控制参数在实际整定中难以达到最优。因此,提出一种基于改进遗传算法的PID控制参数整定方法,通过引入LHS初始化种群、最优个体保留、自适应动态交叉与变异等组合改进策略,使遗传算法易陷入局部最优、搜索效率偏低的问题得以改善,利用其对四旋翼无人机姿态控制系统PID参数进行优化整定,结果表明,该方法能大幅提高四旋翼无人机姿态控制系统的动态性能。

Quadrotor UAV is a complex system with multi-input,multi-variable,strong coupling and underdrive,which has high requirements for control algorithms,and PID control parameters are difficult to achieve the optimal in actual tuning.Therefore,this paper proposes a PID control parameter tuning method based on improved Genetic Algorithm(GA),which improves the problems of local optimization and low search efficiency in GA by introducing LHS initialized population,optimal individual retention,adaptive dynamic crossover and mutation,and other combination improvement strategies.This paper uses it for optimization and tuning of quadrotor UAV attitude control system PID parameters,and the results show that this method can greatly improve the dynamic performance of quadrotor UAV attitude control system.