基于自适应模糊PID的无人机四维航迹控制研究
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摘要
为了提高无人机执行任务的能力,在对三维导航研究的基础上,进行了包括按时到达目标点的四维导航系统设计,给出了导航过程中高度和速度的求解方法;然后分别设计了基于自适应模糊PID的高度和速度控制器,并将其用于无人机的四维导航中;仿真结果表明,与传统的PID控制相比,基于自适应模糊PID设计的控制器能很好的改善控制器性能,具有超调小、响应快、稳态精度高的优点,能够精确实现无人机的四维航迹控制。
In order to improve the ability of the UAV to perform the task,this paper designs the 4D navigation structure chart including the on-time arrival point on the basis of the 3D navigation,and gives the method of solving the height and speed in the navigation process respectively.Then,the height and speed controller based on adaptive fuzzy PID is designed and applied to the 4D navigation of UAV.The simulation results show that compared with the traditional PID control,the controller based on adaptive fuzzy PID design has the advantages of small overshoot,fast response and high steady state precision,and can meet the requirement of UAV's 4D trajectory control.
In order to improve the ability of the UAV to perform the task,this paper designs the 4D navigation structure chart including the on-time arrival point on the basis of the 3D navigation,and gives the method of solving the height and speed in the navigation process respectively.Then,the height and speed controller based on adaptive fuzzy PID is designed and applied to the 4D navigation of UAV.The simulation results show that compared with the traditional PID control,the controller based on adaptive fuzzy PID design has the advantages of small overshoot,fast response and high steady state precision,and can meet the requirement of UAV's 4D trajectory control.
引文
[1]许宗飞,袁冬莉,刘小俊,等.小型无人机三维导航控制研究[J].计算机测量与控制,2010(4):827-829.
[2]杨格,闫建国.基于PID神经网络的无人机三维航迹控制方法研究[J].现代电子技术,2014(8):46-50.
[3]管军,易文俊,常思江,等.某型无人机三维空间航迹跟踪控制方法研究[J].兵工学报,2016(1):64-70.
[4]王健,王承龙,李智,等.基于自适应模糊PID的四旋翼飞行器悬停控制[J].桂林电子科技大学学报,2016(5):406-411.
[5]王博,陈万强,李祥阳.基于模糊自适应PID控制的舵机系统仿真研究[J].重庆理工大学学报(自然科学),2015(10):52-56.
[6]Zhang Dizhou,Chen Zili,Xi Leiping.Adaptive dual fuzzy PID control method for longitudinal attitude control of tail-sitter UAV[A].International Conference on Automation and Computing[C].2016:378-382.
[7]吴玲,闻凯,董敏,等.自适应模糊PID控制在汽车ABS系统中的应用[J].自动化技术与应用,2016(1):26-31.
[8]崔家山.基于自适应模糊PID的飞航导弹控制系统设计[D].哈尔滨:哈尔滨理工大学,2012.
[2]杨格,闫建国.基于PID神经网络的无人机三维航迹控制方法研究[J].现代电子技术,2014(8):46-50.
[3]管军,易文俊,常思江,等.某型无人机三维空间航迹跟踪控制方法研究[J].兵工学报,2016(1):64-70.
[4]王健,王承龙,李智,等.基于自适应模糊PID的四旋翼飞行器悬停控制[J].桂林电子科技大学学报,2016(5):406-411.
[5]王博,陈万强,李祥阳.基于模糊自适应PID控制的舵机系统仿真研究[J].重庆理工大学学报(自然科学),2015(10):52-56.
[6]Zhang Dizhou,Chen Zili,Xi Leiping.Adaptive dual fuzzy PID control method for longitudinal attitude control of tail-sitter UAV[A].International Conference on Automation and Computing[C].2016:378-382.
[7]吴玲,闻凯,董敏,等.自适应模糊PID控制在汽车ABS系统中的应用[J].自动化技术与应用,2016(1):26-31.
[8]崔家山.基于自适应模糊PID的飞航导弹控制系统设计[D].哈尔滨:哈尔滨理工大学,2012.