【摘要】：四旋翼飛行器具有低成本、高性能、可操控性高等特點,因此隨著航天技術的逐漸發(fā)展,四旋翼飛行器被人們廣泛應用于軍事和民用領域。近年來,由于四旋翼飛行器能夠完成基本懸停、軌跡跟蹤、陣型控制、監(jiān)測以及特級翻轉等任務,使其在公路巡航,搜索和救援任務,救災操作,環(huán)境監(jiān)測和監(jiān)視等方面有廣泛的應用。本論文主要研究的是四旋翼的可實現的模糊PD控制算法,即在輸入的微分和PD調節(jié)器的微分中都應用非線性跟蹤微分器,再加入模糊控制器,變?yōu)榭蓪崿F的模糊PD控制算法。特別的是,本文應用可實現的模糊PD控制算法,既具有模糊控制算法強魯棒性,強自適應性和不依賴于數學模型的特點;又具有PD控制算法高精度的優(yōu)勢,這也是本文區(qū)別于其他傳統(tǒng)控制算法的獨到之處。最后文章根據設計的控制算法對四旋翼控制系統(tǒng)進行了MATLAB/Simulink數字仿真研究,并與傳統(tǒng)PID控制算法進行了對比分析。
[Abstract]:With the development of space technology, the four-rotor aircraft has been widely used in military and civilian fields because of its low cost, high performance and high maneuverability. In recent years, the four-rotor aircraft has been able to perform such tasks as basic hovering, track tracking, formation control, monitoring and overturning, making it cruise on highways, search and rescue missions, and disaster relief operations. Environmental monitoring and surveillance are widely used. In this paper, the realizable fuzzy PD control algorithm of four rotor is studied, that is, the nonlinear tracking differentiator is applied to the input differential and the differential of the PD regulator, and then the fuzzy controller is added to the fuzzy PD control algorithm to become the realizable fuzzy PD control algorithm. In particular, the realizable fuzzy PD control algorithm not only has the characteristics of strong robustness, strong adaptability and independent of mathematical model, but also has the advantage of high precision of PD control algorithm. This is different from other traditional control algorithms. Finally, according to the designed control algorithm, the MATLAB/Simulink digital simulation of the four-rotor control system is carried out and compared with the traditional PID control algorithm.
【學位授予單位】：黑龍江大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：V249.1

【參考文獻】

相關碩士學位論文 前1條

1 行陽陽;基于模糊PD的兩輪自平衡車的設計[D];太原理工大學;2013年

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本文編號：2272567