基于模糊自适应PID的无人机纵向姿态控制研究

摘要

A fuzzy adaptive PID controller is developed to control longitudinal attitude of UAV according to the features of nonlinearity.controls parameter' s time-varying and complicated modeling. The error e and its changing rate ec works as the input of the controller, and can meet the need of self-tuning of PID parameter in different time. Fuzzy control rule is used to update the PID parameter on line, which make the controlled object possess better dynamic、 static performance. Simulation results showed that the proposed fuzzy self-adaptive PID controller provides quicker response, small overshot, and better adaptive ability.%针对无人机的典型的非线性、控制参数时变以及建模复杂的特性,设计了一种基于模糊自适应PID的控制器来实现对无人机纵向姿态的控制;该控制器以误差e和误差变化率ec作为输入,可以满足不同时刻e和ec对PID参数自整定的要求;利用模糊控制规则在线对PID参数进行修正,从而使被控对象具有更好的动、静态性能;仿真结果表明,设计的模糊自适应PID控制器具有响应快及超调小的特性,而且自适应能力也较强.