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四轴飞行器控制系统的优劣决定了飞行的稳定性能。由于传统的PID控制器参数固定,存在着动态效果不佳、控制精度不高的问题,针对其具有非线性、强耦合、时变等特点,提出了一种采用变论域模糊的四轴飞行器复合控制策略,在不改变模糊控制结构和规则的前提下,根据对系统误差的大小进行分级选择合适的伸缩因子,从而实时改变模糊控制器的输入和输出论域,使控制器能够较好兼顾系统的快速性与准确性的性能需求。仿真结果表明采用误差分级的变论域模糊PID控制策略能够有效的提高四轴飞行器的动态性能和控制精度,且具有较好的自适应能力和较强的抗干扰性能。
The pros and cons of the quadcopter control system determines the stability of the flight. Due to the fixed parameters of the traditional PID controller, the dynamic performance is poor and the control accuracy is not high. Aiming at its characteristics of non-linearity, strong coupling and time-varying, a four-axis aircraft Compound control strategy, without changing the structure and rules of fuzzy control, according to the size of the system error to select the appropriate scaling factor to change the real-time fuzzy controller input and output domain, so that the controller can better both System performance requirements for speed and accuracy. The simulation results show that the variable-domain fuzzy PID control strategy with error classification can effectively improve the dynamic performance and control accuracy of the quadcopter, and has better self-adaptability and stronger anti-interference performance.