本文關鍵詞： 四旋翼飛行器 高度鎖定 模糊控制 梯度下降法　出處：《西安科技大學》2015年碩士論文　論文類型：學位論文

【摘要】：四旋翼飛行器以其低成本、小尺寸、機動靈活、易于操作等優(yōu)點在近幾年得到了廣泛的應用,無論是在軍事、民用以及娛樂等眾多場合都能見到其身影。隨著四旋翼飛行器的廣泛應用,吸引了越來越多的飛行器愛好者對其研究,但由于其具有非線性、強耦合、結(jié)構(gòu)復雜等特點,難以建立精確的數(shù)學模型對其進行精確穩(wěn)定的控制,國內(nèi)外學者針對其不同的控制目的,也提出了許多具有針對性的控制算法,并取得了一定的成果。本文主要針對四旋翼飛行器的高度鎖定進行控制,提出了基于模糊控制算法的四旋翼飛行器高度鎖定控制方法。通過建立模糊控制器并離線生成模糊控制規(guī)則表,實現(xiàn)四旋翼飛行器高度鎖定的在線控制。該模糊控制器以飛行器的實際高度和實際高度與鎖定高度的高度差作為模糊控制器的輸入量,以飛行器油門通道的量化值作為模糊控制器的輸出量,采用雙輸入單輸出的模糊控制器結(jié)構(gòu),使用在飛行器高度鎖定過程中手動操作的專家經(jīng)驗生成一系列語言控制規(guī)則,利用MATLAB模糊控制工具箱生成模糊控制系統(tǒng),經(jīng)過模擬操作后生成模糊控制系統(tǒng)的輸入輸出量,再將這些輸入輸出量裝載進提前準備好的查詢系統(tǒng),最后生成經(jīng)過去模糊化后的模糊控制規(guī)則表。將生成的模糊控制規(guī)則表裝載進飛行器控制系統(tǒng)中實現(xiàn)在線控制。由于模糊控制在建立語言規(guī)則以及確定模糊集合隸屬函數(shù)參數(shù)時的主觀性,該模糊控制規(guī)則表未必能準確反映該飛行器系統(tǒng)的實際飛行狀態(tài),所以,論文最后利用大量的實驗數(shù)據(jù)采用梯度下降法對該模糊控制系統(tǒng)中的隸屬函數(shù)的參數(shù)進行優(yōu)化,使其能準確反映該飛行器系統(tǒng)的實際狀況。通過實驗證明,經(jīng)過梯度下降法優(yōu)化后的隸屬函數(shù)參數(shù)能更加準確的反映飛行器的飛行狀況,本課題所研究的飛行器高度鎖定控制取得了很好的效果。
[Abstract]:Four-rotor aircraft has been widely used in recent years with its advantages of low cost, small size, flexibility, ease of operation and so on, whether in the military, It can be seen on many occasions, such as civil and entertainment. With the wide application of four-rotor aircraft, it attracts more and more aircraft enthusiasts to study it, but because of its nonlinear, strong coupling, complex structure and so on, It is difficult to establish accurate mathematical model to control it accurately and stably. For its different control purposes, scholars at home and abroad also put forward a lot of targeted control algorithms. And some achievements have been made. This paper mainly focuses on the control of the altitude lock of the four-rotor aircraft. Based on fuzzy control algorithm, a height locking control method for four-rotor aircraft is proposed. The fuzzy controller is established and the fuzzy control rule table is generated offline. The fuzzy controller takes the actual height of the aircraft and the height difference between the actual height and the locking height as the input of the fuzzy controller. Taking the quantization of throttle passage as the output of the fuzzy controller, the fuzzy controller structure with double input and single output is adopted, and a series of language control rules are generated by using the expert experience of manual operation in the course of altitude lock of the aircraft. The fuzzy control system is generated by using the MATLAB fuzzy control toolbox, the input and output of the fuzzy control system are generated after the simulation operation, and the input and output quantities are loaded into the query system prepared in advance. Finally, the fuzzy control rule table after defuzzification is generated. The generated fuzzy control rule table is loaded into the aircraft control system to realize online control. Since fuzzy control is used to establish language rules and determine fuzzy sets. Subjectivity in membership function parameters, The fuzzy control rule table may not accurately reflect the actual flight state of the aircraft system. Therefore, the parameters of the membership function in the fuzzy control system are optimized by using a large number of experimental data using gradient descent method. The experimental results show that the membership function parameters optimized by gradient descent method can more accurately reflect the flight status of the aircraft. The aircraft altitude locking control studied in this paper has achieved good results.
【學位授予單位】：西安科技大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：V249

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