摘要
针对无人机典型的非线性,且气动参数随着工作环境时变的问题,文中研究了基于模糊控制规则下的多模型模糊自适应控制方法,以实现对无人机纵向姿态控制;该方法对局部采用经典PID设计的子控制器进行加权处理,从而达到多控制器集的平滑切换,在利用S函数建立的无人机六自由度模型基础上进行控制仿真,得出仿真曲线;基于无人机纵向姿态俯仰角控制仿真结果表明,设计的多模型模糊自适应PID控制器具有较好的控制性能和鲁棒性。
According to the features of nonlinearity and pneumatic parameter＇s time--varying of UAV, a multi--model fuzzy adaptive control method based on fuzzy control rules is studied to control longitudinal attitude of UAV. The sub--controllers designed with the PID method are weighted by this method, so that the multi--controller set can he switched smoothly. Do the simulation on the six degrees free- dom nonlinear UAV mathematical model built with the S-- function, and it reveals the advantages and robustness of this control method stud- ied in this paper, based on the longitudinal attitude pitch angle control simulation results.
出处
《计算机测量与控制》
北大核心
2014年第2期400-402,共3页
Computer Measurement &Control
