摘要
针对传统PID在四旋翼飞行器轨迹跟踪控制方面存在的精度不高、鲁棒性差等不足,提出了一种滑模PID算法。并根据建立的四旋翼欧拉-庞卡莱动力学模型,设计滑模PID轨迹跟踪控制器。与传统PID算法相比,该算法通过选取PID滑模面,有效地提高系统的响应速度以及抗干扰的能力。通过MATLAB/Simulink,在不同条件下,分别对滑模PID和传统PID算法设计的控制系统进行仿真。仿真结果表明,该算法能够更为精确地跟踪期望轨迹,同时具有响应时间短,超调量小,鲁棒性强等优点。
In order to overcome the deficiencies of low accuracy and robustness for traditional PID controller in the trajectory tracking problem of quad-rotor unmanned aerial vehicles, a sliding mode PID algorithm is proposed. The dynamic model is established based on Euler-Poincare equation, and a sliding mode PID trajectory tracking controller is designed. The proposed algorithm with PID sliding surface provides a faster response and a higher anti- jamming ability than that of the traditional PID. Simulation is performed under different conditions by using MATLAB/Simulink. By compared with traditional PID controller the results show that the sliding mode PID controller has a better trajectory tracking performance, and it has faster response, smaller overshoot and stronger robustness, which verifies the effectiveness of the proposed algorithm.
出处
《机械科学与技术》
CSCD
北大核心
2017年第12期1859-1865,共7页
Mechanical Science and Technology for Aerospace Engineering
基金
国家自然科学基金项目(51405243
51575283)
江苏省自然科学基金项目(BK20130999)资助
关键词
四旋翼
轨迹跟踪
滑模PID
MATLAB
unmanned aerial vehicles
trajectory tracking
sliding mode PID
MATLAB
