单旋翼垂直起降系统的模糊PID控制

Fuzzy PID control of single rotor vertical take-off and landing system

由于旋翼无人机具有续航时间长、垂直起降及应用广泛等特点,其姿态稳定控制是实现日常飞行任务的主要因素,需具备一定抗干扰能力。针对传统PID(proportional-integral-derivative,PID)控制算法的旋翼无人机姿态抗干扰性弱、鲁棒性及解耦性差等问题,基于模糊比例-积分-微分控制算法,依托NI ELVIS II+开放式试验平台,进行了旋翼无人机姿态模糊PID控制设计;利用LabVIEW软件设计控制算法,通过系统建模、仿真调试和试验结果分析,表明模糊PID控制器比传统PID控制速度更快,稳态时间更长,且具有自适应特性,控制参数可随外部环境自动调节,能充分保证控制系统的稳定性。

Rotorcraft unmanned aerial vehicle(UAV)has the characteristics of long endurance,vertical takeoff and landing and has more potential application scenarios.The attitude stability control of rotorcraft UAV is one of the main factors to achieve normal flight and the UAV must have a certain anti-interference ability.Aiming at the problems of anti-interference,robustness,and decoupling of rotorcraft UAV attitudes,fuzzy proportional-integral-derivative(PID)control algorithm is designed to improve the traditional PID control,such as poor robustness and weak anti-interference ability.Based on the NI ELVIS II+open experimental platform,the fuzzy PID control design of the rotorcraft UAV is completed.LabVIEW software is used to design the control algorithm,system modeling,simulation debugging and experimental results analyses.The results show that the fuzzy PID controller is faster than the traditional PID control.The steady-state time is longer and it is adaptive.The control parameters can be adjusted automatically with the external environment to ensure the stability of the control system.