农机化研究2024，Vol.46Issue(5)：1-6,6.
基于改进遗传算法的植保无人机姿态控制
Attitude Control of Plant Protection UAV Based on Improved Genetic Algorithm
摘要
Abstract
In order to solve the problems of poor self-adaptation ability,weak anti-interference ability and low efficiency of traditional trial and error setting PID control parameters in the position and attitude control system of the heavy-load quadrotor plant protection UAV,this paper proposes a method based on improved genetic algorithm optimization.The fuzzy PID control algorithm enables the controller to have real-time self-optimization capabilities,thereby improving the control effect of the UAV.First,the dynamics model and fuzzy PID control algorithm model of the quadrotor plant protection UAV are established in Matlab software.Then the improved genetic algorithm is used to tune the initial control parameters of the fuzzy PID controller,and the optimized results are compared with the results obtained by the manually tuned PID control algorithm.The simulation experiment results verify that the fuzzy PID control algorithm optimized by the improved GA al-gorithm has better control effect and stability,and effectively improves the robustness of the UAV in drug spraying.关键词
植保无人机/模糊PID控制器/智能算法/参数优化Key words
plant protection UAV/fuzzy PID controller/intelligent algorithm/parameter optimization分类
农业科技引用本文复制引用
金强,石永康,吕玉龙,赵玉花..基于改进遗传算法的植保无人机姿态控制[J].农机化研究,2024,46(5):1-6,6.基金项目
国家自然科学基金项目(51965056) （51965056）
自治区高层次人才项目(100400027) （100400027）
自治区高校科研计划项目(61021800081) （61021800081）
新疆大学科研启动项目(620312351) （620312351）
