摘要
四旋翼无人机(UAV)是一种强耦合、欠驱动的系统,飞行过程中易受到系统不确定性和外界干扰影响稳定性,所以提出了一种改进的模糊PID控制方法。首先对四旋翼无人机进行数学建模,设计了改进模糊PID控制方法,该方法主要由三个部分组成,模糊PID,单PID以及计算在控制输出过程中两者的权值比的模糊控制器。最后通过Matlab/Simulink仿真以及在基于STM32F405控制器的四旋翼无人机(UAV)实验平台上验证。实验结果表明,在风速为3m/s条件下,UAV能够平稳起降,对于实时性的姿态以及运动状态做出智能的控制,具有良好的鲁棒性以及控制精度。
The Unmanned Aerial Vehicles （UAV） is a strong coupling and underactuated system ,so animproved fuzzy PID was proposed to improve the control accuracy that was declined by uncertainly ,external disturbance.Fisrtly,based on the dynamic modeling of the quadrator UAV,an improved fuzzy PID controller was designed.lt is composing of three parts,which are fuzzy PID controller and single PID controller and the controller which will calculate weight ratio of the two previous controllers＇ output .Finally,the improved fuzzy PID controller was verified by Matlab/Simulink simulation and validation on STM32F405 experiment platform, the results show that under the condition of the wind speed is 3m/s,UAV can smoothly land.For real-time gesture and motion state of intelligent control, the UAV has good robustness and control precision.
出处
《机械设计与制造》
北大核心
2017年第8期9-12,共4页
Machinery Design & Manufacture
基金
国家自然科学基金(61262059
31460248)
新疆优秀青年科技创新人才培养(2013721016)
