小型固定翼无人机纵向姿态控制律的研究

Study of Small Fixed-wing UAV’s Longitudinal Attitude Control 

摘要:

针对无人机在实际飞行过程中受到外部环境影响大,控制精度不够高的问题；研究了一种模糊参数自整定PID控制方法来完成对无人机的纵向姿态的控制；该方法在传统的PID控制的基础上,利用无人机实际飞行中的数据,建立起模糊控制规则来实现PID参数自整定,最后在通过建立的纵向姿态模型上进行仿真控制,得出仿真曲线；仿真实验结果表明,所设计的模糊PID控制器,相比于传统的PID控制器具有更好的控制性能,并且具有很好的抗干扰能力,能够满足无人机控制系统的要求。

Abstract:

According to the features of the UAV's flight performance is influenced extremely highly by the external environment and the control precision is not high enough, a fuzzy parameters self-tuning PID controller is studied to control the longitudinal attitude of UAV. based on the PID method, this method use the parameters of the actual flight to build the fuzzy control rules, in this way, the self-tuning PID parameters are achieved,then do the simulation on the mode of the longitudinal attitude of UAV, The results show that the fuzzy PID controller can get better control performance and has better anti-interference ability compared with traditional PID controller, which can meet the requirement of UAV control system.