基于双闭环模糊PID四旋翼无人机姿态控制

Attitude Control of UAV Based on Double Closed Loop Fuzzy PID

因四旋翼无人机(QUAV)采用的是一种欠驱动、非线性的控制系统,飞行过程中极易受到外部因素干扰,对姿态控制带来了巨大的挑战。基于此构建了一种基于双闭环模糊PID控制算法的四旋翼无人机姿态控制方法。首先建立了四旋翼无人机飞控系统位置模型和姿态模型,其次在PID控制的基础上设计了双闭环模糊PID控制器,最后进行Simulink仿真验证其可行性。结果表明,新设计的姿态控制系统具有较好的快速性、稳定性和鲁棒性,为四旋翼无人机姿态控制提供了一种很好的研究思路。

Because the quadrotor unmanned aerial vehicle(QUAV)adopts an underdriven and nonlinear control system,it is highly susceptible to interference from external factors during flight,which poses a great challenge to attitude control.Based on this,this paper constructs a quadrotor UAV attitude control method based on a double closedloop fuzzy PID control algorithm.Firstly,the position model and attitude model of the quadrotor UAV flight control system were established,secondly,a dual closed-loop fuzzy PID controller was designed on the basis of PID control,and finally,Simulink simulation was conducted to verify its feasibility.The results show that the attitude control system designed in this paper has good rapidity,stability and robustness,which provides a good research idea for quadrotor UAV attitude control.