计算机科学 ›› 2016, Vol. 43 ›› Issue (Z11): 551-553.doi: 10.11896/j.issn.1002-137X.2016.11A.124
赵玉颖,姜香菊,曾幼涵
ZHAO Yu-ying, JIANG Xiang-ju and ZENG You-han
摘要: 针对四旋翼飞行器姿态控制问题,设计一种Anti-windup PID姿态控制器。结合四旋翼飞行器简化的数学模型,在飞行器在垂直速率、俯仰速率、翻滚速率、偏航速率4个独立通道上分别设计了PID控制器和Anti-windup PID控制器。在MATLAB/SIMULINK环境下,对控制四旋翼飞行器姿态的两种算法进行仿真分析。仿真结果表明,Anti-windup PID控制方法在性能上明显优于PID,对飞行器有良好的控制效果。用Anti-windup PID算法搭建的四旋翼飞行器的物理实验平台更好地验证了该算法的有效性。
[1] Bouabdallah S.PIDvs LQ Control Techniques Applied to an Indoor Micro Quadrotor[C]∥IEEE/RSJ International Conference on Intelligent Robots and Systems.2004,3:2451-2456 [2] Argentim L M,Rezende W C,et al.PID,LQR and LQR-PID on a Quadcopter Platform[J].Informatics,Electronics & Vision (ICIEV),2013:1-6 [3] Salih A L,Moghavvemi M,et al.Modelling and PID Controller Design for a Quadrotor Unmanned Air Vehicle[J].Automation Quality and Testing Robotics (AQTR),2010:1-5 [4] Erginer B,Altug E.Modeling and PD Control of a QuadrotorVTOL Vehicle[J].Intelligent Vehicles Symposium,2007:894-899 [5] 胡锦添,舒怀林.基于Adams与Matlab的四旋翼飞行器控制仿真[J].自动化与信息工程,2012(5):25-28 [6] Gheorghita D,Vintu I,et al.Quadcopter Control System[J].Control and Computing(ICSTCC),2015:421-426 [7] 吴建德.基于频域辨识的微小型无人直升机的建模与控制研究[D].杭州:浙江大学,2007 [8] Ly D,et al.Modeling and Control of Quadrotor MAV Using Vision based Measurement[J].International Forum on Strategic Technology ,2010,3(4):70-75 [9] 刘金坤.先进PID控制MATLAB仿真[M].北京:电子工业出版社,2004 [10] 王树刚.四旋翼直升机控制问题研究[D].哈尔滨工业大学,2006 [11] 聂博文.微小型四旋翼无人直升机建模及控制方法研究[D].长沙:国防科学技术大学,2006 [12] 吴中华,贾秋玲.四旋翼几种控制方法研究[J].现代电子技术,2013(15):88-90 [13] 李钟慎,郭辉,张磊,等.PID控制系统抗饱和方法的对比研究[J].信息技术与信息化,2013(4):68-71 [14] Bresciani T.Mdelling,Identification and Control of a Quadrotor Helicopter[D].Department of Automatic Control Lund university,2008 [15] 杨帆.微型四旋翼飞行器的建模与控制系统研究[D].太原:太原理工大学,2014 |
No related articles found! |
|