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四旋翼飞行器的结构简单以及对飞行环境要求低的优势,使其应用极其广泛。四旋翼飞行器的姿态控制是决定飞行性能的关键,目前,应用较成熟的控制方法仍为PID控制,但是四旋翼飞行器的姿态之间存在非线性的耦合,使得控制参数整定有难度,PID控制器对其姿态的调整会出现较大的超调量,或者较长的调节时间。该文综合了模糊控制和PID控制各自优势,设计了模糊自整定PID控制器,能够实现参数的自整定。仿真结果显示,所设计的控制器能够有效抑制系统超调量,提高响应速度。
The simple structure of the quadcopter and its low requirement for the flight environment make it extremely versatile. At present, the more mature control method is still PID control, but there is nonlinear coupling between the attitude of quadrotorcraft, making it difficult to set the control parameters. The PID controller The adjustment of the attitude will appear larger overshoot, or longer adjustment time. This paper combines the advantages of fuzzy control and PID control, designs a fuzzy self-tuning PID controller, which can realize the self-tuning of parameters. The simulation results show that the designed controller can effectively restrain the system overshoot and improve the response speed.