高技术通讯2017，Vol.27Issue(2)：168-176,9.DOI:10.3772/j.issn.1002-0470.2017.02.009
基于自适应模糊PID控制的四旋翼飞行器的自主跟踪
Autonomous tracking for a quadrotor based on adaptive fuzzy PID control
摘要
Abstract
The adaptive fuzzy PID control was studied to improve the dynamic performance and work efficiency of a quadrotor aircraft’s control system. At present, in practical control, quadrotor aircrafts mainly use the classic PID method and the fuzzy control method. However, the classic PID easily causes the overshoot so bringing the poor dynamic performance for the system; and the fuzzy PID control causes the poor system response and low working efficiency for the system. To solve the problem, a new control algorithm was presented by using the segmentation strategy for the classical PID and the fuzzy control. The fuzzy control algorithm is used to improve the dynamic performance when the error of the system is big; and the classic PID algorithm is used to reduce the static error and improve the work efficiency when the error of the system is small. The hovering flight experiment was implemented. The control effects of the three algorithms of adaptive fuzzy PID, fuzzy Control and classical PID were contrasted. The results show that the adaptive fuzzy PID algorithm can effectively solve the above-mentioned problem. Finally, the autonomous self-tracking experiment for the system using the adaptive fuzzy PID algorithm was completed, and the algorithm was perfectly applied to the navigation guidance field.关键词
微小型四旋翼飞行器/自适应模糊PID/自主跟踪/悬停飞行/飞行控制系统Key words
micro quadrotor/adaptive fuzzy PID/autonomous tracking/fixed hover/flight control system引用本文复制引用
刘友才,吴怀宇,陈洋..基于自适应模糊PID控制的四旋翼飞行器的自主跟踪[J].高技术通讯,2017,27(2):168-176,9.基金项目
国家自然科学基金(61203331,61573263),湖北省科技支撑(2015BAA018)和武汉科技大学研究生创新创业基金(JCY2015002)资助项目. （61203331,61573263）
