基于模糊PID的大型双旋翼无人机

doi:10.16180/j.cnki.issn1007-7820.2024.08.008

Abstract

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

CLC Number:

TP273

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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References 18

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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

Research on Large Twin-Rotor UAV Based on Fuzzy PID

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