摘要
目前四旋翼飞行器的控制器大多采用经典PID控制器,经典PID控制器具有算法易实现、鲁棒性强等优点,但其很难达成最优的控制效果,文章针对这一问题提出了模糊PID控制器,用于四旋翼的姿态控制。在分析四旋翼的数学模型及其姿态控制方法的基础上,设计了经典PID控制器和模糊PID控制器,并在matlab环境下进行了仿真对比验证,从实验结果得出模糊PID具有更好的动态性和稳定性。
With strong robustness and easy algorithm to implement,the classic PID controller is widely used for quadrotor.But it's always hard to achieve the best results.According to the problem,fuzzy PID controller is put forward.Based on the mathematic model and the control methods,PID controller and fuzzy PID controller are analyzed emphatically.Also the simulation of two controllers is given by the matlab,which concludes that fuzzy logic controller does better in controllability and stability.
出处
《工程技术研究》
2017年第11期28-30,共3页
Engineering and Technological Research
