哈尔滨商业大学学报（自然科学版）2016，Vol.32Issue(6)：740-744,751,6.
基于模糊 PID 的无人直升机悬停控制技术研究
Study on hover control technology of unmanned helicopter based on fuzzy PID algorithm
摘要
Abstract
Small-scale unmanned helicopters are widely used in military and civil fields with good maneuvering performance .Study on hover control technology of helicopter with gust wind was done in this paper .And lateral position control was selected as research object , because of its high coupling and unstablility .This paper proposed a control strategy based on feedforward and fuzzy PID method after analysing characters of classical PID control method . Acceleration feedforward module was added to roll angle loop to minimize disturbance at the initial moment.In addition,fuzzy control regulations were made according to characters of helicopter .And PID parameters were changed online with fuzzy inference .The effectiveness of this strategy was verified .关键词
无人直升机/悬停控制/模糊PID/前馈Key words
unmanned helicopter/lateral positon control/fuzzy PID/acceleration feedfor-ward分类
航空航天引用本文复制引用
李晓峰,曹力,梁颖茜,王旭辉..基于模糊 PID 的无人直升机悬停控制技术研究[J].哈尔滨商业大学学报（自然科学版）,2016,32(6):740-744,751,6.基金项目
国家自然科学基金（61179066）；江苏省产学研联合创新资金－前瞻性联合研究项目 （）
