基于Anti-windup PID的四旋翼飞行器姿态控制研究

发布时间：2018-03-10 16:34

本文选题：PID　切入点：Anti-windup　出处：《计算机科学》2016年S2期 　论文类型：期刊论文

【摘要】：针对四旋翼飞行器姿态控制问题,设计一种Anti-windup PID姿态控制器。结合四旋翼飞行器简化的数学模型,在飞行器在垂直速率、俯仰速率、翻滚速率、偏航速率4个独立通道上分别设计了PID控制器和Anti-windup PID控制器。在MATLAB/SIMULINK环境下,对控制四旋翼飞行器姿态的两种算法进行仿真分析。仿真结果表明,Anti-windup PID控制方法在性能上明显优于PID,对飞行器有良好的控制效果。用Anti-windup PID算法搭建的四旋翼飞行器的物理实验平台更好地验证了该算法的有效性。
[Abstract]:A Anti-windup PID attitude controller is designed to solve the attitude control problem of a four-rotor aircraft. Combined with the simplified mathematical model of the four-rotor aircraft, the attitude controller is designed at the vertical rate, pitch rate and roll rate. PID controller and Anti-windup PID controller are designed on four independent channels of yaw rate. Two algorithms for attitude control of four-rotor aircraft are simulated and analyzed. The simulation results show that the performance of Anti-windup PID control method is obviously superior to that of PID, and it has a good control effect on the aircraft. The four-rotor flight based on Anti-windup PID algorithm is constructed. The effectiveness of the proposed algorithm is better verified by the physical experiment platform.
【作者单位】：兰州交通大学电气工程及自动化学院;
【分类号】：V249.1

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