风扰条件下四旋翼无人机智能控制算法的设计与仿真

摘要

为提高四旋翼无人机在风扰条件下的抗扰能力和控制精度,提出一种利用遗传算法优化模糊控制器规则以提高控制器性能的方法.首先,对自然条件下风速的变化特性进行分析,建立相应的数学模型,并将其作为环境噪声引入系统.在四旋翼无人机动力学模型的基础上,设计模糊PID控制器对其进行控制.同时,对模糊控制器中的模糊子集进行基因编码,设计改进型遗传算法来实现对模糊规则的再整定与优化.在Matlab/Simulink仿真环境下的实验结果表明,该算法有效地提高了四旋翼无人机在面对复杂干扰时的抗扰能力和控制精度.%In order to improve the anti-interference ability and control accuracy of quad-rotor UAV under the condition of wind disturbance,a method of optimizing fuzzy controller rules was proposed to improve the performance of the controller by using genetic algorithm.Firstly,the characteristics of the wind speed change under natural conditions were analyzed to establish a corresponding mathematical model and they were introduced into the system as environmental noise.Based on the dynamic model of quad-rotor UAV,a fuzzy PID controller was designed to control it.At the same time,the fuzzy subsets in the fuzzy controller were genetically coded,and an improved genetic algorithm was designed to realize the readjustment and optimization of fuzzy rules.The experimental results in the Matlab/Simulink simulation environment show that the algorithm effectively improves the anti-interference ability and control accuracy of the quad-rotor UAV in the face of complex interference.