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通常无人机系统是不稳定的,姿态稳定控制至关重要,维持姿态的稳定可以保证安全性、更好的飞行体验、成功地执行任务。非线性特性导致姿态稳定控制成为难点,国内外研究人员致力于寻找合适的方法来解决这一问题,为此提出了一种模糊PID的新型复合控制算法用来稳定四旋翼无人机姿态。该算法能够实时更新PID控制器的比例、积分、微分参数Kp、Ki、Kd,从而稳定四旋翼的姿态。为了研究这种新型复合算法的性能,对四旋翼进行建模后,利用MATLAB对其进行仿真,并与传统PID进行对比。仿真结果表明,在响应时间以及调节时间上,其性能比传统PID更加优越。
Usually unmanned aerial vehicle system is unstable, attitude stability control is crucial, to maintain the stability of attitude can ensure the safety, better flight experience, the successful implementation of the task. Nonlinear characteristics lead to attitude stability control becomes a difficult problem. Researchers at home and abroad are committed to find a suitable method to solve this problem. To solve this problem, a new compound control algorithm based on fuzzy PID is proposed to stabilize the quadrotor UAV attitude. The algorithm can real-time update PID controller proportional, integral, differential parameters Kp, Ki, Kd, thus stabilizing the attitude of the quadrotor. In order to study the performance of this new composite algorithm, the quadrotor was modeled and then simulated with MATLAB and compared with the traditional PID. The simulation results show that the performance is better than the traditional PID in response time and adjustment time.