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针对微型无人直升机具有非线性、多变量耦合等特性,利用模糊组合PID控制方法研究直升机模型飞行控制系统的姿态控制问题。首先以三自由度直升机模型为控制对象,建立动力学方程。然后对PID控制方法采用模糊控制算法进行改进。为使直升机模型能够平稳飞行,且具有较强的鲁棒性,基于解耦的直升机模型分别设计模糊-PID阈值切换和加权控制方法,对直升机模型的俯仰轴和横侧轴进行控制。最后将所提出的控制方法应用于直升机模型本体实现姿态优化,实时仿真效果说明所设计方法的可行性和有效性。
Aiming at the characteristics of micro unmanned helicopter with nonlinear and multivariable coupling, this paper studies the attitude control problem of helicopter model flight control system by using fuzzy combined PID control method. Firstly, a three-DOF helicopter model is taken as the control object to establish a dynamic equation. Then the PID control method is improved by fuzzy control algorithm. In order to make the helicopter model flight smoothly and robust, the fuzzy-PID threshold switching and weighted control methods are designed respectively based on the decoupled helicopter model to control the pitch axis and the lateral axis of the helicopter model. Finally, the proposed control method is applied to helicopter model ontology to realize attitude optimization. The real-time simulation results demonstrate the feasibility and effectiveness of the proposed method.