摘要
对四轴飞行器的结构分析建立动力学模型,并针对其飞行过程中存在的问题,采用模糊PID与传统PID混合的串级控制方法进行研究。由于四轴飞行器是在空间上具有6个活动自由度而仅有4个控制自由度的欠驱动系统,因此该系统通过直接控制飞行器的空间坐标系上的线位移x,y,z和偏航角ψ,从而间接控制滚转角φ和俯仰角θ,实现飞行器的全控制。使用模糊自适应PID与传统PID混合控制使得飞行器在加入扰动后具有更强的鲁棒性,从而提升了机体的抗干扰能力。
In this article, dynamics model is established by analyzing the structure of quadrotor, and fuzzy adap- tive PID and conventional PID hybrid cascade control method is used aiming at the problems in the flight process. The quadrotor is an underaetuated system, which has six degrees of freedom on the space but only four control de- grees of freedom. We control the roll angle φ and pitch angle θ indirectly by controlling of aircraft on linear dis- placement x, y, z and yaw angle ψ, in space coordinate system directly in order to realize the full control of air- craft. Using fuzzy adaptive PID mixed with the traditional PID controller makes the aircraft has higher robustness after adding disturbance, and improving the anti-interference ability of the body.
出处
《机床与液压》
北大核心
2017年第6期1-6,共6页
Machine Tool & Hydraulics
基金
supported by the National Natural Science Foundation of China (11272122)
Guangdong Province section of major research projects (2012A090300011)
Science & Technology Project of Shaoguan (2014CXY-C312)
