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四旋翼无人机(UAV)是一种强耦合、欠驱动的系统,飞行过程中易受到系统不确定性和外界干扰影响稳定性,所以提出了一种改进的模糊PID控制方法。首先对四旋翼无人机进行数学建模,设计了改进模糊PID控制方法,该方法主要由三个部分组成,模糊PID,单PID以及计算在控制输出过程中两者的权值比的模糊控制器。最后通过Matlab/Simulink仿真以及在基于STM32F405控制器的四旋翼无人机(UAV)实验平台上验证。实验结果表明,在风速为3m/s条件下,UAV能够平稳起降,对于实时性的姿态以及运动状态做出智能的控制,具有良好的鲁棒性以及控制精度。
Quadruped rotor UAV (UAV) is a kind of strong coupling and underactuated system. It is easy to be influenced by the system uncertainty and external disturbances during flight. Therefore, an improved fuzzy PID control method is proposed. Firstly, the quadruped rotor UAV is mathematically modeled, and an improved fuzzy PID control method is designed. The method mainly consists of three parts: fuzzy PID, single PID and fuzzy control to calculate the weight ratio between the two Device. Finally, it is verified by Matlab / Simulink simulation and experimental platform of Quadrotor UAV based on STM32F405 controller. The experimental results show that the UAV can take off and land steadily at a wind speed of 3m / s, and it can make intelligent control on real-time attitude and motion state with good robustness and control precision.