变化风场中无人机稳定控制系统的设计与仿真

摘要

In order to better solve the UAV safety problems seriously affected by the Variable wind field especially atmospheric turbulence,the paper constructs the atmospheric turbulence mathematical model and analyzes the influence on the UAV flight,establishes the six degree-of-freedom nonlinear air-craft model and designs a fuzzy self-tuning PID algorithm.This controller can improve the stability and steady-state accuracy of UAV in the variable wind field.%针对变化风场尤其是大气紊流严重影响无人机飞行安全的问题，通过构建大气紊流数学模型并分析其对飞行的影响，为非线性无人机建立了六自由度模型，设计了一种模糊自整定PID 控制器并进行了 Matlab 仿真。仿真结果表明，该控制器可提高无人机在变化风场中的稳定性和稳态精度。