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(duì)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(diǎn)導(dǎo)致系統(tǒng)超調(diào)量增大的問(wèn)題,根據(jù)系統(tǒng)動(dòng)態(tài)性能指標(biāo)要求,通過(guò)改進(jìn)傳統(tǒng)PID控制算法,設(shè)計(jì)了基于時(shí)間與絕對(duì)誤差積分(ITAE)性能指標(biāo)下帶前置濾波的最優(yōu)PID控制算法。使用Matlab軟件Simulink工具對(duì)傳統(tǒng)PID控制與帶前置濾波的最優(yōu)PID控制兩種算法進(jìn)行對(duì)比實(shí)驗(yàn),結(jié)果表明:采用帶前置濾波的最優(yōu)PID控制,調(diào)節(jié)時(shí)間小于0.5 s,超調(diào)量小于5%,在保證系統(tǒng)動(dòng)態(tài)響應(yīng)快的同時(shí)有效抑制了閉環(huán)零點(diǎn)對(duì)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(xué)機(jī)械電氣工程學(xué)院;兵團(tuán)空間信息工程技術(shù)研究中心;石河子大學(xué)信息科學(xué)與技術(shù)學(xué)院;
【基金】：國(guó)家遙感中心新疆兵團(tuán)分部關(guān)鍵創(chuàng)新平臺(tái)開(kāi)發(fā)(2015BA006)
【分類(lèi)號(hào)】：V249.1

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本文編號(hào)：2053520