摘要
针对小型无人机体积小、质量轻、稳定、可靠的特点,提出了一套低成本的基于DSP无人机飞控系统设计方案,详细介绍了系统的硬件结构和基本功能。为了使飞控系统具有良好的控制特性,满足高精度、高适应性和高灵活性的系统要求,设计了一种参数自适应的模糊PID控制器,并对控制器的设计原理、结构及参数设计规则等进行描述。仿真结果表明,参数自适应模糊PID控制器比常规PID控制器的控制性能更好,其超调小、响应快、精度高,而且自适应能力强,能满足无人机自主飞行的要求。
For the small UAV＇s characteristics of small size,light weight,stable and reliable,This paper proposes a design for a UAV low-cost flight control system based on DSP.Describes the hardware structure and functions of the system in detail.We also design a self-adaptive fuzzy PID controller,to make this system has good control characteristics and to meet the system requirements include high precision,high adaptability and flexibility.And describe the design principles,structure and parameter design rules of the controller.The simulation results show that the fuzzy PID controller is better than the conventional PID controller,It is small overshoot,fast response,high accuracy and the adaptive ability can meet the requirements of uav autonomous flight.
出处
《电子测量技术》
2014年第7期53-56,共4页
Electronic Measurement Technology
