本文選題：四旋翼飛行器 + 姿態(tài)控制　； 參考：《電光與控制》2016年08期

【摘要】：針對傳統(tǒng)的比例-積分-微分(PID)閉環(huán)算法在四旋翼飛行器姿態(tài)控制中存在的參數(shù)整定繁瑣、閉環(huán)零點導致系統(tǒng)超調(diào)量增大的問題,根據(jù)系統(tǒng)動態(tài)性能指標要求,通過改進傳統(tǒng)PID控制算法,設計了基于時間與絕對誤差積分(ITAE)性能指標下帶前置濾波的最優(yōu)PID控制算法。使用Matlab軟件Simulink工具對傳統(tǒng)PID控制與帶前置濾波的最優(yōu)PID控制兩種算法進行對比實驗,結(jié)果表明:采用帶前置濾波的最優(yōu)PID控制,調(diào)節(jié)時間小于0.5 s,超調(diào)量小于5%,在保證系統(tǒng)動態(tài)響應快的同時有效抑制了閉環(huán)零點對超調(diào)量的影響,提升了控制品質(zhì),優(yōu)于傳統(tǒng)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.
【作者單位】： 石河子大學機械電氣工程學院;兵團空間信息工程技術研究中心;石河子大學信息科學與技術學院;
【基金】：國家遙感中心新疆兵團分部關鍵創(chuàng)新平臺開發(fā)(2015BA006)
【分類號】：V249.1

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