电子科技2024，Vol.37Issue(8)：54-59,67,7.DOI:10.16180/j.cnki.issn1007-7820.2024.08.008
基于模糊PID的大型双旋翼无人机
Research on Large Twin-Rotor UAV Based on Fuzzy PID
摘要
Abstract
Compared with the quad-rotor UAV(Unmanned Aerial Vehicle),the large twin-rotor UAV has the advantages of lower price,longer endurance and higher efficiency,but it has serious coupling and poor anti-in-terference ability.To solve these problems,this study proposes a dual-rotor control algorithm using variable universe fuzzy PID(Proportional Integration Differentiation).In this study,the UAV system is divided into position control and attitude control.In attitude control,fuzzy PID is used to adjust the parameters of PID in real time to improve the stability of UAV.According to the motion mode of UAV,a new type of UAV structure is proposed,and the dynamic model of double-rotor is established,and the simulation model is built on Simulink for verification.The results show that the proposed algorithm reduces the overshoot by 50%when compared with the ordinary PID control algorithm,which indicates that the proposed algorithm has better stability on large twin-rotor UAV and can recover faster in case of interference.关键词
大型双旋翼无人机/变论域/模糊控制/PID/抗干扰/运动控制/MATLAB/自动控制原理Key words
large twin-rotor UAV/variable universe/fuzzy control/PID/anti-interference/motion control/MATLAB/automatic control principle分类
信息技术与安全科学引用本文复制引用
金睿,金海,莫松楠..基于模糊PID的大型双旋翼无人机[J].电子科技,2024,37(8):54-59,67,7.基金项目
浙江省科技厅重点研发计划(2022C01242)Key R&D Program of Science and Technology Department of Zhe-jiang(2022C01242) （2022C01242）
