排灌机械工程学报2018，Vol.36Issue(5)：454-460,7.DOI:10.3969/j.issn.1674-8530.17.0187
农药喷洒四轴飞行器的模糊PID姿态控制
Attitude control of pesticide spraying quadrotor aircraft based on fuzzy PID
摘要
Abstract
In order to realize a more stable attitude control for quadrotor aircrafts,a quaternion kinematical equation was established,and analytical and numerical solutions of the equation were given respectively,then the Euler angles were obtained.To identify the impact of variable loads on the control effect when a pesticide spraying quadrotor aircraft was working,a fuzzy PID controller was designed.The reliability of the controller was validated by using Matlab/Simulink simulations in comparison with the traditional PID controller.Additionally,a quadrotor aircraft test platform was established by programming the control algorithm on the stm32 flight controller.In the experiment,the control effect of the fuzzy PID was compared with the traditional PID by changing the weight of the aircraft.The overshoot of the fuzzy PID is decreased by 22％ and 30％,the rising time is reduced by 0.06 s and 0.08 s,and the settling time is shortened by 0.70 s and 0.80 s,compared with the traditional PID,before and after the weight of the aircraft is changed.The results show that this fuzzy PID control system has the advantages of faster response,less overshoot,etc.,than the traditional PID control system,and can meet the requirements on control of pesticide spraying quadrotor aircraft even better.关键词
四轴飞行器/四元数法/传统PID/模糊PID/Matlab/SimulinkKey words
quadrotor aircraft/quaternion method/traditional PID/fuzzy PID/Matlab/Simulink分类
信息技术与安全科学引用本文复制引用
荆学东,潘翔,汪泽涛..农药喷洒四轴飞行器的模糊PID姿态控制[J].排灌机械工程学报,2018,36(5):454-460,7.基金项目
上海市科学技术委员会科研计划项目(16090503700) （16090503700）
