| 四旋翼飞行器PID优化控制 |
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| 引用本文： | 王史春.四旋翼飞行器PID优化控制[J].河北科技大学学报,2013,34(5):457-463. |
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| 作者姓名： | 王史春 |
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| 作者单位： | [1]台州职业技术学院,浙江台州318000 [2]浙江大学智能系统与控制研究所,工业控制技术国家重点实验室,浙江杭州310027 |
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| 基金项目： | 高等学校访问学者专业发展项目（FX2012121）; 中央高校基本科研业务费专项资金 |
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| 摘 要： | 针对四旋翼飞行器具有非线性,强耦合性,多输入的欠驱动系统的特点,研制出既能精确控制飞行器姿态,又具有较强抗干扰和环境自适应能力的控制器。为了达到更好的飞行效果,采用了传统的PID控制算法,但实际应用中需要对PID参数进行优化,提出改进的PSO算法和遗传算法相结合的优化控制方法。为了优化PID参数,首先对飞行器进行动力性建模,再利用改进的PSO算法和遗传算法作PID参数优化。仿真和飞行实践的数据表明,相对于标准的PSO算法,飞行器有更好的鲁棒性和控制效果。
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| 关 键 词： | 四旋翼飞行器 建模 GA-PSO 优化 仿真实验 |
Optimal PID control for the four rotor quadrotor |
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| WANG Shichun.Optimal PID control for the four rotor quadrotor[J].Journal of Hebei University of Science and Technology,2013,34(5):457-463. |
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| Authors: | WANG Shichun |
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| Institution: | WANG Shichun (1, Taizhou Vocational and Technical College, Taizhou Zhejiang 318000, China, 2. National Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou Zhejiang 310027, China) |
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| Abstract: | For the nonlinear,strong coupling,multi-input under-drive system of the quadrotor,a controller is developed not only with precise control of the aircraft attitude,but also with strong anti-interference ability and environmental adaptability.In order to achieve better flight,classical PID control algorithm is adopted.However,the parameters in PID controller have to be optimizing in practical applications,and an improved PSO algorithm and genetic algorithm optimization control method is proposed.In order to optimize the PID parameters,the dynamic modeling of the aircraft is completed before the use of improved PSO algorithm and genetic algorithm for PID parameter optimization.Simulation and flight practice data show that the aircraft has a better robustness and control effects compared with the standard PSO algorithm. |
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| Keywords: | four-rotor quadrotor modeling GA-PSO optimization simulation |
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