基于自适应单神经元PID的四旋翼飞行控制研究

Study of Single Neuron PID Adaptive Flight Controller for Quadrotor

摘要:

针对传统增量式PID控制算法在四旋翼飞行器的姿态控制中自整定参数不足的缺点,提出了一种改进的自适应单神经元PID控制算法,该算法在单神经元加权系数调整的基础上引入PSD自适应控制方法,增加了对比例系数的自适应调整;通过建立四旋翼飞行器的动力学模型和飞行试验平台对该改进算法进行仿真验证;仿真结果表明,采用自适应单神经元PID算法的控制器结构简单且响应速度快,精度高,具有更高的鲁棒性和自适应能力,能有效的实现四旋翼飞行器姿态的稳定控制。

Abstract:

In a four-rotor aircraft attitude control system, traditional incremental PID control algorithm exists insufficient shortcoming of self-tuning parameters. In view of the shortcoming, an improved single neuron adaptive PID control algorithm is proposed, on the basis of weighting coefficients being adjusted, the adaptive PSD control method is introduced in the improved algorithm, at the same time the adaptive adjustment of proportional coefficients is increased. With the support of flight test platform and through the establishment of four rotor aircraft dynamic model, the simulation is carried out to verify the improved algorithm. The simulation result shows that the adaptive single neuron PID algorithm makes controller structure simple, has fast response speed, high precision, higher robustness and higher adaptive ability, can realize four-rotor aircraft attitude stability control effectively.