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针对传统全包线控制器设计方法——增益调度法耗时、低效、可移植性差等缺点,提出了基于改进的多目标遗传算法(NS-GA-Ⅱ)的自调参控制器设计方法,以提高控制器设计的效率和控制器的鲁棒性;方法中,以无人机系统输出与参考模型输出的误差为目标函数,频域指标为约束,预先设定调参规律,利用NSGA-Ⅱ算法对自动调参系数进行求解,同时实现了固定设计点控制器参数的优化和全状态控制器参数的拟合;运行一次优化程序就得到了全状态控制器;仿真结果表明:在没有人工调参和增益调度插值的情况下,基于NSGA-Ⅱ算法设计的控制器,控制性能良好,证明了设计方法的有效性。
Aiming at the shortcomings of the traditional all-envelope controller design method-gain scheduling method, which is time-consuming, inefficient, and poor portability, the design method of self-tuning controller based on improved multi-objective genetic algorithm (NS-GA-Ⅱ) , In order to improve the efficiency of the controller design and the robustness of the controller. In the method, taking the error between the output of the UAV and the output of the reference model as the objective function, the frequency domain index is a constraint, -Ⅱ algorithm is used to solve the auto-negotiation coefficient, at the same time, the parameters of the fixed design point controller are optimized and the parameters of the full-state controller are fitted. The whole state controller is obtained by running an optimization program. The simulation results show that: In the case of manual tuning and gain scheduling interpolation, the controller designed based on NSGA-Ⅱ algorithm has good control performance and proved the effectiveness of the design method.