Computer Science ›› 2016, Vol. 43 ›› Issue (Z11): 551-553.doi: 10.11896/j.issn.1002-137X.2016.11A.124

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Attitude Control Research of Quad-rotor Aircraft Based on Anti-windup PID

ZHAO Yu-ying, JIANG Xiang-ju and ZENG You-han   

  • Online:2018-12-01 Published:2018-12-01

Abstract: Aiming at the attitude control problem of four rotor aircraft,a PID Anti-windup attitude controller was designed.Based on the simplified mathematical model of the four rotor aircraft,the PID controller and PID Anti-windup controller were designed respectively on the four independent channels of the aircraft in the vertical velocity,the pitch rate,the roll rate and yaw rate.In the MATLAB/SIMULINK environment,the simulation analysis of the two algorithms to control the attitude of the four rotor aircraft was carried out.The simulation results show that the PID Anti-windup control method is superior to PID in performance,and has a good control effect on the aircraft.PID Anti-windup algorithm is used to build the physical experiment platform of the four rotor aircraft,which is better to verify the effectiveness of the algorithm.

Key words: PID,Anti-windup PID,Quad-rotor aircraft,Attitude control

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