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针对无人机飞行中存在大量的随机干扰和不确定误差等问题,常规的PID控制器不能满足高精度、高灵活性和强适应性的要求,提出了基于改进Fuzzy-PID控制理论的飞控律设计。该设计使用模糊规则下的切换开关来完成PID控制和Fuzzy控制输出量的加权,使控制具有两者的优点。通过调整模糊隶属度函数参数,可以得到系统的最佳控制方案。仿真结果表明:基于改进Fuzzy-PID控制理论的飞控律明显优于常规控制理论,具有较强的适应性和灵活性,在提高无人机的飞行控制系统性能上具有实际意义。
Due to a large number of random disturbances and uncertain errors in the UAV flight, the conventional PID controller can not meet the requirements of high precision, high flexibility and strong adaptability. The flight control based on the improved Fuzzy-PID control theory Law design. The design uses the switch under fuzzy rules to complete the weighting of PID control and Fuzzy control output so that the control has both advantages. By adjusting fuzzy membership function parameters, we can get the best control scheme of the system. The simulation results show that the flight control law based on the improved Fuzzy-PID control theory is obviously superior to the conventional control theory and has strong adaptability and flexibility. It has practical significance in improving the performance of the UAV flight control system.