基于SSA优化PID在四旋翼无人机轨迹跟踪中的研究

Research on quadrotor UAV trajectory tracking based on SSA optimized PID

在大多数应用中,四旋翼无人机要按照预期轨迹连续准确的飞行。PID控制在无人机控制应用广泛,但是参数难以选择,参数设置不当会导致结果不佳,对实际控制应用的适应性差。为了实现四旋翼无人机精确轨迹跟踪,文中提出使用麻雀搜索算法对PID控制器的参数进行整定优化的方法。首先对四旋翼无人机进行建模,用麻雀搜索算法对模型中的PID控制器参数整定,最后在Simulink中进行轨迹跟踪实验。实验结果表明麻雀搜索算法优化后的PID控制器使四旋翼无人机轨迹跟踪的精度高,跟踪速度快。

In most applications,quadcopter UAVs need to fly continuously and accurately according to the expected trajectory.PID control is widely used in UAV control,but the parameter selection is difficult to choose.Improper parameter setting can lead to poor results and poor adaptability to practical control applications.In order to achieve precise trajectory tracking of quadcopter UAVs,the article proposes a method of using Sparrow Search Algorithm(SSA)to tune and optimize the parameters of the PID controller.Firstly,a quadcopter UAV is modeled,and the PID controller parameters in the model are tuned using the SSA.Finally,trajectory tracking experiments are conducted in Simulink.The experiment results show that the PID controller optimized by the SSA has high accuracy and fast tracking speed for the trajectory tracking of the quadcopter UAV.