摘要
四旋翼无人直升机是一种多输入、强耦合、多变量、欠驱动的系统,其可以应用到航拍、考古、边境巡逻、反恐侦查等多个领域,具有广阔的前景。根据欧拉定理以及牛顿定律建立四旋翼无人直升机的动力学模型,并且考虑了空气阻力、转动力矩对于桨叶的影响,而后基于经典PID算法设计了双环控制系统,之后在此基础上结合模糊控制技术设计了模糊自整定PID控制器。通过Matlab/Simulink对两种控制算法设计的控制器进行仿真比较,从仿真结果可以看出两种控制算法均可使四旋翼无人直升机到达指定位置并且保持悬停状态,但模糊自整定PID算法设计的控制系统在响应时间以及稳定性方面优于经典PID下的控制系统的控制效果。
Quadrotor Unmanned Helicopter （QUH） is a kind of under - actuated system with multiple inputs and strong coupling. It has a broad application prospect, such as aerial photography, archaeology, patrolling border, anti- terrorism investigation. Dynamical model can be established according to Euler＇s theorem and Newton＇s law, considering the effect of air resistance and rotating torque. A dual -loop control system is designed based PID algorithm, and then another system is designed based on fuzzy self- tuning PID con- troller. Simulation results of two controllers reveal that the QUH can arrive at the specified position and keep hovering and control effects of fuzzy self - tuning PID controller are better than that of classic PID in the aspect of response time and stability.
出处
《控制工程》
CSCD
北大核心
2013年第5期910-914,共5页
Control Engineering of China
基金
国家自然科学基金(61103123)
