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针对传统的比例-积分-微分(PID)闭环算法在四旋翼飞行器姿态控制中存在的参数整定繁琐、闭环零点导致系统超调量增大的问题,根据系统动态性能指标要求,通过改进传统PID控制算法,设计了基于时间与绝对误差积分(ITAE)性能指标下带前置滤波的最优PID控制算法。使用Matlab软件Simulink工具对传统PID控制与带前置滤波的最优PID控制两种算法进行对比实验,结果表明:采用带前置滤波的最优PID控制,调节时间小于0.5 s,超调量小于5%,在保证系统动态响应快的同时有效抑制了闭环零点对超调量的影响,提升了控制品质,优于传统PID控制。
Aiming at the problem that the traditional proportional-integral-derivative (PID) closed-loop algorithm has complicated parameter setting in quadrotor attitude control and the closed-loop zero point causes the overshoot of the system to increase, according to the requirement of system dynamic performance index, Algorithm, an optimal PID control algorithm with pre-filter based on the performance index of time and absolute error integral (ITAE) is designed. The comparison between the traditional PID control and the optimal PID control with pre-filtering is carried out by using Simulink tool of Matlab software. The results show that the optimal PID control with pre-filtering is adopted, the adjustment time is less than 0.5s, the overshoot is less than 5%, which can effectively restrain the influence of closed-loop zero on overshoot while ensuring the fast dynamic response of the system, and improve the control quality, which is better than the traditional PID control.