论文部分内容阅读
针对多旋翼无人飞行器机载云台的稳定控制要求,提出一种采用双速度环控制结构的带有模糊切换条件的模糊自适应PID复合稳定控制方法。在深入分析控制结构扰动抑制能力的基础上,通过模糊自适应控制中自调整因子的引入和控制规则的在线修正,提高系统的快速响应能力;利用变速积分PID控制保证系统的高稳定精度,模糊切换条件实现复合控制的平稳切换。动态响应和稳态精度实验表明,系统的调节时间约为20 ms,稳定精度为0.13mrad。该方法有效地实现了机载云台的稳定控制,完全满足了多旋翼无人飞行器的应用需求。
Aiming at the requirement of stability control of multi-rotor UAV flight-borne platform, a fuzzy adaptive PID compound stable control method with fuzzy switching condition using dual-speed loop control structure is proposed. Based on the in-depth analysis of the disturbance suppression ability of control structure, the self-adjusting factor in fuzzy adaptive control and the on-line correction of control rules are used to improve the system’s quick response ability. The variable-speed integral PID control is used to ensure the high stability and fuzzy Switching conditions to achieve a smooth switching composite control. Dynamic response and steady-state accuracy experiments show that the system settling time is about 20 ms and the stability accuracy is 0.13 mrad. The method effectively realizes the stable control of the airborne PTZ and fully meets the application requirements of the UAV.