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对四轴飞行器的结构分析建立动力学模型,并针对其飞行过程中存在的问题,采用模糊PID与传统PID混合的串级控制方法进行研究。由于四轴飞行器是在空间上具有6个活动自由度而仅有4个控制自由度的欠驱动系统,因此该系统通过直接控制飞行器的空间坐标系上的线位移x,y,z和偏航角ψ,从而间接控制滚转角φ和俯仰角θ,实现飞行器的全控制。使用模糊自适应PID与传统PID混合控制使得飞行器在加入扰动后具有更强的鲁棒性,从而提升了机体的抗干扰能力。
Based on the structural analysis of the quadcopter, a dynamic model is established and a series of cascade control methods based on fuzzy PID and traditional PID are proposed to solve the problems existing in the flight process. Since the quadcopter is an underdrive system with 6 degrees of freedom in space and only 4 degrees of freedom to control the system, the system directly controls the linear displacement x, y, z and the yaw on the space coordinate system of the aircraft Angle ψ, which indirectly controls the roll angle φ and pitch angle θ, to achieve full control of the aircraft. The hybrid adaptive control with fuzzy adaptive PID and traditional PID makes the aircraft more robust after adding perturbation, which enhances the anti-interference ability of the aircraft.