针对尾坐式飞行器垂直飞行状态下易受突风和乱流的干扰，为了提高系统的稳定性和动态性能，设计了一种变论域分形模糊PID控制器，并在分形因子中引入一个归一化误差加速度参量来反映系统响应的快慢程度。通过在分形时刻进行论域的自调整，以分形时刻系统的误差变量值作为新的误差变量论域范围，其他变量的论域范围也进行相关联的调整，从而重新激活全局的模糊规则，对PID控制器的参数进行调整，以提高系统的响应速度和控制精度。通过仿真表明，该方法不仅提高了系统的动态响应特性和稳态性能，而且具有较强的自适应能力和抗干扰能力。%Since the tail-sitter UAV is sensitive to the interference of gusts and turbulence in vertical flight,a variable universe fractal fuzzy PID controller was designed to improve the stability and dynamic performance of the UAV,and a normalized error acceleration parameter was introduced as a fractal factor to reflect the response speed of the system .By self-tuning of the universe in the fractal moment,taking the value of error as the new universe of error,and adjusting the universe range of the other parameters,the whole fuzzy rules were activated again .The parameters of the PID controller are well tuned to improve the speed of response and control precision of the system .The simulation results reveal that the controller can not only improve the dynamic and steady performance of the system,but also has high self-adaptive ability and robustness.
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