基于模糊PD算法的四旋翼飞行器控制的研究
发布时间：2018-10-15 12:32
【摘要】：四旋翼飞行器具有低成本、高性能、可操控性高等特点,因此随着航天技术的逐渐发展,四旋翼飞行器被人们广泛应用于军事和民用领域。近年来,由于四旋翼飞行器能够完成基本悬停、轨迹跟踪、阵型控制、监测以及特级翻转等任务,使其在公路巡航,搜索和救援任务,救灾操作,环境监测和监视等方面有广泛的应用。本论文主要研究的是四旋翼的可实现的模糊PD控制算法,即在输入的微分和PD调节器的微分中都应用非线性跟踪微分器,再加入模糊控制器,变为可实现的模糊PD控制算法。特别的是,本文应用可实现的模糊PD控制算法,既具有模糊控制算法强鲁棒性,强自适应性和不依赖于数学模型的特点;又具有PD控制算法高精度的优势,这也是本文区别于其他传统控制算法的独到之处。最后文章根据设计的控制算法对四旋翼控制系统进行了MATLAB/Simulink数字仿真研究,并与传统PID控制算法进行了对比分析。
[Abstract]:With the development of space technology, the four-rotor aircraft has been widely used in military and civilian fields because of its low cost, high performance and high maneuverability. In recent years, the four-rotor aircraft has been able to perform such tasks as basic hovering, track tracking, formation control, monitoring and overturning, making it cruise on highways, search and rescue missions, and disaster relief operations. Environmental monitoring and surveillance are widely used. In this paper, the realizable fuzzy PD control algorithm of four rotor is studied, that is, the nonlinear tracking differentiator is applied to the input differential and the differential of the PD regulator, and then the fuzzy controller is added to the fuzzy PD control algorithm to become the realizable fuzzy PD control algorithm. In particular, the realizable fuzzy PD control algorithm not only has the characteristics of strong robustness, strong adaptability and independent of mathematical model, but also has the advantage of high precision of PD control algorithm. This is different from other traditional control algorithms. Finally, according to the designed control algorithm, the MATLAB/Simulink digital simulation of the four-rotor control system is carried out and compared with the traditional PID control algorithm.
【学位授予单位】：黑龙江大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1
本文编号：2272567
[Abstract]:With the development of space technology, the four-rotor aircraft has been widely used in military and civilian fields because of its low cost, high performance and high maneuverability. In recent years, the four-rotor aircraft has been able to perform such tasks as basic hovering, track tracking, formation control, monitoring and overturning, making it cruise on highways, search and rescue missions, and disaster relief operations. Environmental monitoring and surveillance are widely used. In this paper, the realizable fuzzy PD control algorithm of four rotor is studied, that is, the nonlinear tracking differentiator is applied to the input differential and the differential of the PD regulator, and then the fuzzy controller is added to the fuzzy PD control algorithm to become the realizable fuzzy PD control algorithm. In particular, the realizable fuzzy PD control algorithm not only has the characteristics of strong robustness, strong adaptability and independent of mathematical model, but also has the advantage of high precision of PD control algorithm. This is different from other traditional control algorithms. Finally, according to the designed control algorithm, the MATLAB/Simulink digital simulation of the four-rotor control system is carried out and compared with the traditional PID control algorithm.
【学位授予单位】：黑龙江大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1
【参考文献】
相关硕士学位论文 前1条
1 行阳阳;基于模糊PD的两轮自平衡车的设计[D];太原理工大学;2013年
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