基于改进PID算法横列式双旋翼无人机系统

Control System Design of Bicopter Based on Improved PID Algorithm

横列式双旋翼无人机相较于传统固定旋翼无人机具有更强的机动性与续航能力,但是传感器测量误差会影响其控制精度。针对这一问题,在理论模型方面完成了动力学模型的推导并整定了相关物理参数;在控制算法方面自主开发三轴加速度计误差补偿算法,并创新性将该算法与传统PID控制算法结合形成改进串级双闭环PID算法,可以实现对三轴加速度计测量值累积误差的抑制,同时利用Simulink进行了30次系统控制仿真,仿真结果表明:改进PID算法理论上针对y轴位移、滚转角、俯仰角与偏航角可分别降低约78%、26%、19%与44%系统超调量;在实验测控方面搭建了试验样机+测控地面站系统,最终完成10组空中悬停对比实验。实验结果表明:改进PID算法试验样机悬停高度、滚转角、俯仰角与偏航角的稳态误差较传统PID算法减少约35.68%、49.04%、2.33%与55.96%,验证了改进控制算法的精度与实际有效性。

Compared with the traditional multi-rotor UAV,the bicopter has stronger maneuverability and endurance,but the sensor measurement error will affect the control precision.In response to this problem,in terms of the overall structure,the bicopter test prototype was built and the dynamic model was deduced;In terms of control algorithm,the error compensation algorithm of the triaxial accelerometer is developed independently,and the improved cascade double closed-loop PID algorithm is formed by combining the algorithm with the traditional PID control algorithm innovatively,which can realize the suppression of the cumulative error of the measured value of the triaxial accelerometer,at the same time,30 system control simulations were carried out by Simulink.The simulation results show that the improved cascade double closed-loop PID algorithm can theoretically reduce the overshoot of Y-axis displacement,roll Angle,pitch Angle and yaw Angle by about 78%,26%,19%and 44%,respectively.In the aspect of experimental measurement and control,a test prototype+measurement and control ground station system was built,and 10 groups of air hover comparison experiments were finally completed.The experimental results show that the steady-state errors of hover height,roll Angle,pitch Angle and yaw Angle of the improved PID algorithm are reduced by 35.68%,49.04%,2.33%and 55.96%compared with the traditional PID algorithm,which verifies the accuracy and actual effectiveness of the improved control algorithm.