摘要
无人机姿态控制需要极高的精确性,传统的PID控制无法满足其性能要求,但如果采用复杂的控制算法,在软件上实现又具有一定的难度。而串级PID控制则具有较高的精度,同时在软件编程上的实现也比较简单。本文针对无人机滚转和俯仰通道的姿态控制实时性和精度要求高的特点,采用了PID串级控制,并介绍了参数调试方法。经过实际飞行测试可以满足要求。
UAV attitude control requires high accuracy. The traditional PID control unable to meet its performance requirements. But if the use of some complex control algorithms,it will be difficult to program. Cascade PID control is to meet the requirements of precision, while the software programming is also relatively simple to achieve. This text adopts cascade PID control system,aiming at the real-time and high-accuracy feature of attitude control of pitch channel and UAV rolling .The real flight test shows the system can meet the requirement.
出处
《微计算机信息》
2009年第22期9-10,45,共3页
Control & Automation
基金
基金申请人:裴海龙
项目名称:小型飞行机器人的多模态切换制导控制策略研究
基金颁发部门:国家自然科学资金委员会(60574004/f030103)
