一种基于模糊PID算法的无人机横滚姿态控制器设计与仿真

Design and Simulation of Roll Attitude Controller for Unmanned Aerial Vehicle Based on Fuzzy PID Algorithm

本文以无人机横滚姿态为控制对象,以误差和误差变化率为输入,利用模糊推理的方法实现了对PID参数的在线自动整定,并且在MATLAB/Simulink环境下对模糊PID控制器进行了设计、建模及仿真。仿真结果表明,参数自整定模糊PID复合控制系统将PID控制的简便性与模糊控制的鲁棒性融为一体,提高了系统的动静态性能,控制效果优于传统PID控制器。

By taking the roll attitude of unmanned aerial vehicles as the control object,and the error and error rate of change as inputs,this paper realizes the online automatic tuning of PID parameters by fuzzy inference,and completes the design,modeling and simulation of fuzzy PID controller in MATLAB/Simulink environment.The simulation results show that the parameter self-tuning fuzzy PID composite control system integrates the simplicity of PID control with the robustness of fuzzy control,improves the dynamic and static performance of the system,and has better control effects than traditional PID controllers.