基于自适应模糊PID的四旋翼飞行器悬停控制

摘要

In order to improve control performance,robustness of the four-rotor aircraft in the process of hovering flight,a control method based on fuzzy adaptive proportion integration differentiation is proposed.Firstly Newton-Euler equations are used to construct the non-linear model of four-rotor aircraft.Then the inner loop of attitude control is designed,the outer loop of position control is designed,and the adaptive fuzzy PID controller is designed by Matlab.Finally simulation results show that the adaptive Fuzzy PID controller has better response speed and robustness,it can effectively make the aircraft reach the target position and remain hovering flight.The bicyclic control of four-rotor aircraft is realized.%为了解决四旋翼飞行器在悬停飞行过程中控制性能差、鲁棒性差等问题,提出一种基于自适应模糊PID控制方法.根据Newton-Euler方程建立四旋翼飞行器的非线性模型,设计内环为姿态控制,外环为位置控制,并在Matlab环境下设计了该自适应模糊PID控制器.仿真和实验结果表明,该自适应模糊PID控制器具有较好的响应速度及鲁棒性,能够有效地控制飞行器到达目标位置,并且保持悬停飞行状态,实现了对四旋翼飞行器系统双环控制.