机器人Issue(4)：415-423,9.DOI:10.13973/j.cnki.robot.2015.0415
四旋翼无人机的偏航抗饱和与多模式PID控制
Anti-windup and Multi-Mode PID Control of Yaw Movement for a Quad-Rotor UAV
摘要
Abstract
The actuator saturation tends to occur in the yaw movement of a quad-rotor UAV (unmanned air vehicle), espe-cially in the presence of disturbances, which results from the fact that yaw movement is much weaker than pitch movement and roll movement. In order to address this problem, a multi-mode proportional-intergral-differential (MMPID) anti-windup controller is proposed from the view point of practical engineering, to prevent actuator saturation in the yaw movement, and the favorable yaw control performance can be guaranteed in the case of external disturbances. Firstly, MMPID method as yaw controller is designed based on the dynamic model of the quad-rotor. MMPID controller has multi-mode characteristic and carries out desaturation strategy under certain conditions. Then, the yaw control system based on MMPID method is proved to be stable using Lyapunov theory. Finally, comparative experiments based on quad-rotor simulation show that MMPID method has significant advantages than variable-structure PID method with respect to the anti-windup performance and yaw control performance. In additon, the validity and robustness of MMPID yaw controller are verified via quad-rotor prototype experiments. Experimental results indicate that the yaw control system based on MMPID method has nearly no saturation with yaw angle error limited to ±0.05 rad indoors without disturbances. It spends 10 s to exit saturation with yaw angle error limited to ±0.08 rad indoors with disturbances. It spends 5 s to exit saturation with yaw angle error limited to ±0.13 rad outdoors. MMPID controller can effectively prevent actuator saturation in the yaw movement with accurate yaw control and strong robustness for a quad-rotor UAV.关键词
四旋翼无人机/偏航运动/执行器饱和/抗饱和/多模式PID(MMPID)Key words
quad-rotor UAV/yaw movement/actuator saturation/anti-windup/multi-mode PID (MMPID)分类
信息技术与安全科学引用本文复制引用
彭程,白越,乔冠宇,宫勋,田彦涛..四旋翼无人机的偏航抗饱和与多模式PID控制[J].机器人,2015,(4):415-423,9.基金项目
国家自然科学基金项目（11372309，61304017）；吉林省科技发展计划重点项目（20150204074GX）；省院合作科技专项资金项目（2014SYHZ0004）． （）
