四旋翼飞行器悬停模式ITAE最优PID控制

发布时间：2018-06-22 16:53

本文选题：四旋翼飞行器 + 姿态控制　；参考：《电光与控制》2016年08期

【摘要】：针对传统的比例-积分-微分(PID)闭环算法在四旋翼飞行器姿态控制中存在的参数整定繁琐、闭环零点导致系统超调量增大的问题,根据系统动态性能指标要求,通过改进传统PID控制算法,设计了基于时间与绝对误差积分(ITAE)性能指标下带前置滤波的最优PID控制算法。使用Matlab软件Simulink工具对传统PID控制与带前置滤波的最优PID控制两种算法进行对比实验,结果表明:采用带前置滤波的最优PID控制,调节时间小于0.5 s,超调量小于5%,在保证系统动态响应快的同时有效抑制了闭环零点对超调量的影响,提升了控制品质,优于传统PID控制。
[Abstract]:Aiming at the problem that the traditional proportional integral-differential (pid) closed-loop algorithm is difficult to set parameters in the attitude control of four-rotor aircraft and the closed-loop zero leads to the overshoot of the system, according to the requirements of the dynamic performance index of the system, this paper proposes a new method to solve the problem. By improving the traditional pid control algorithm, an optimal pid control algorithm with prefilter based on the performance index of time and absolute error integration (ITAE) is designed. The comparison between traditional pid control and optimal pid control with prefilter is carried out by using Matlab software Simulink. The results show that the optimal pid control with prefilter is adopted. The adjusting time is less than 0.5 s and the overshoot is less than 5. It can effectively restrain the influence of closed loop zero on the overshoot and improve the control quality, which is superior to the traditional pid control.
【作者单位】：石河子大学机械电气工程学院;兵团空间信息工程技术研究中心;石河子大学信息科学与技术学院;
【基金】：国家遥感中心新疆兵团分部关键创新平台开发(2015BA006)
【分类号】：V249.1

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