| 串联模糊PID控制的四旋翼无人机控制系统设计 |
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| 引用本文： | 胡改玲,桂亮,权双璐,郭婷,王永泉,王军平.串联模糊PID控制的四旋翼无人机控制系统设计[J].实验技术与管理,2019(3):132-135. |
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| 作者姓名： | 胡改玲 桂亮 权双璐 郭婷 王永泉 王军平 |
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| 作者单位： | 西安交通大学机械工程学院 |
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| 基金项目： | 陕西高等教育教学改革研究项目(2016GCD07);西安交通大学本科教学改革研究项目(1613Y) |
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| 摘 要： | 针对四旋翼无人机飞行过程中遇到信号干扰时姿态控制性能变差的问题,设计了基于串联模糊自整定PID控制器。系统采用串级PID控制算法,在内环角速度控制器中加入了模糊自整定PID参数控制器,提高了系统稳定性和抗干扰能力。在无人机飞行控制实验过程中响应速度快,振荡幅度小,缩短了系统稳定的调整时间。在该实验系统的基础上开设了本科生开放创新实验——四旋翼无人机控制系统设计,有效提高了学生专业知识运用能力和创新能力。
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| 关 键 词： | 四旋翼无人机 串级PID 模糊自整定 创新实验 |
Design of four-rotor UAV control system based on series fuzzy PID |
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| HU Gailing,GUI Liang,QUAN Shuanglu,GUO Ting,WANG Yongquan,WANG Junping.Design of four-rotor UAV control system based on series fuzzy PID[J].Experimental Technology and Management,2019(3):132-135. |
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| Authors: | HU Gailing GUI Liang QUAN Shuanglu GUO Ting WANG Yongquan WANG Junping |
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| Institution: | (School of Mechanical Engineering,Xi’an Jiaotong University,Xi’an 710049,China) |
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| Abstract: | In view of the problem that the attitude control performance of the four-rotor UAV (unmanned aerial vehicle) is worsened when it encounters the signal interference in the flight process,a PID controller based on series fuzzy self-tuning series is designed. The cascade PID control algorithm is adopted in the system,and the fuzzy self-tuning PID parameter controller is used for the inner loop angular speed controller,which improves the stability and anti-interference ability of the system. In the process of the UAV flight control experiment,the response speed is fast,the oscillation amplitude is small,and the adjustment time of system stability is shortened. On the basis of this experimental system,an open and innovative experiment for undergraduates,io.e.,the design of the four-rotor UAV control system,has been set up,which effectively improves the students’ ability to apply professional knowledge and their innovative ability. |
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| Keywords: | four-rotor UAV cascade PID fuzzy self-tuning innovative experiment |
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