本文選題：PID　切入點(diǎn)：Anti-windup　出處：《計(jì)算機(jī)科學(xué)》2016年S2期 　論文類型：期刊論文

【摘要】：針對(duì)四旋翼飛行器姿態(tài)控制問題,設(shè)計(jì)一種Anti-windup PID姿態(tài)控制器。結(jié)合四旋翼飛行器簡(jiǎn)化的數(shù)學(xué)模型,在飛行器在垂直速率、俯仰速率、翻滾速率、偏航速率4個(gè)獨(dú)立通道上分別設(shè)計(jì)了PID控制器和Anti-windup PID控制器。在MATLAB/SIMULINK環(huán)境下,對(duì)控制四旋翼飛行器姿態(tài)的兩種算法進(jìn)行仿真分析。仿真結(jié)果表明,Anti-windup PID控制方法在性能上明顯優(yōu)于PID,對(duì)飛行器有良好的控制效果。用Anti-windup PID算法搭建的四旋翼飛行器的物理實(shí)驗(yàn)平臺(tái)更好地驗(yàn)證了該算法的有效性。
[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.
【作者單位】： 蘭州交通大學(xué)電氣工程及自動(dòng)化學(xué)院;
【分類號(hào)】：V249.1

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本文編號(hào)：1594166