基于模糊PID的大型双旋翼无人机

doi:10.16180/j.cnki.issn1007-7820.2024.08.008

摘要/Abstract

摘要：

相较于四旋翼无人机(Unmanned Aerial Vehicle,UAV),大型双旋翼无人机具有价格低廉、续航长以及效率高等优点,但存在耦合严重、抗干扰能力差等问题。为解决上述问题,文中提出了一种采用变论域模糊PID(Proportional Integration Differentiation)双旋翼控制算法。将无人机系统分解为位置控制和姿态控制两部分,在姿态控制上采用模糊PID实时调节PID参数,从而提高无人机的稳定性。根据无人机的运动方式提出一种新型无人机结构,搭建了双旋翼的动力学模型,并在Simulink上搭建了仿真模型进行验证。结果表明,相较于普通PID控制算法,所提算法将控制的超调量减少了50%,说明该算法在大型双旋翼无人机上具有更好的稳定性,在受到干扰的情况下可更快恢复。

关键词: 大型双旋翼无人机, 变论域, 模糊控制, PID, 抗干扰, 运动控制, MATLAB, 自动控制原理

Abstract:

Compared with the quad-rotor UAV(Unmanned Aerial Vehicle), the large twin-rotor UAV has the advantages of lower price, longer endurance and higher efficiency, but it has serious coupling and poor anti-interference ability. To solve these problems, this study proposes a dual-rotor control algorithm using variable universe fuzzy PID (Proportional Integration Differentiation). In this study, the UAV system is divided into position control and attitude control. In attitude control, fuzzy PID is used to adjust the parameters of PID in real time to improve the stability of UAV. According to the motion mode of UAV, a new type of UAV structure is proposed, and the dynamic model of double-rotor is established, and the simulation model is built on Simulink for verification. The results show that the proposed algorithm reduces the overshoot by 50% when compared with the ordinary PID control algorithm, which indicates that the proposed algorithm has better stability on large twin-rotor UAV and can recover faster in case of interference.

Key words: large twin-rotor UAV, variable universe, fuzzy control, PID, anti-interference, motion control, MATLAB, automatic control principle

中图分类号:

TP273

金睿, 金海, 莫松楠. 基于模糊PID的大型双旋翼无人机[J]. 电子科技, 2024, 37(8): 54-59.

JIN Rui, JIN Hai, MO Songnan. Research on Large Twin-Rotor UAV Based on Fuzzy PID[J]. Electronic Science and Technology, 2024, 37(8): 54-59.

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参数	数值	单位
J_x	4.885	kg·m²
J_y	7.034	kg·m²
J_z	0.195	kg·m²
m	19.542	kg
g	9.810	m·s^-2
l	0.500	m
C_T	1.156×10^-5	N·s²
C_M	2.531×10^-10	N·m·s²