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四旋翼无人机在飞行过程中姿态易受到外界气流等因素的干扰,导致飞行姿态失稳,影响完成预设飞行任务的质量。针对传统PID控制不能自适应调整其控制参数的特点,本文首先研究精英蚁群系统算法与PID控制结合的方法,然后提出一种改进精英蚁群系统算法与PID控制结合的方法,分别实现无人机在受到干扰情况下飞行过程的姿态控制,并进行了仿真实验对比。仿真实验结果表明:用改进精英蚁群系统算法优化PID控制参数,不仅可以在短时间内获得PID控制参数的最优解,提高了收敛速度,同时具有更好的抗扰性和鲁棒性。
Quadrotor UAV during the flight attitude vulnerable to external air and other factors, leading to flight instability, the impact of the completion of the quality of the preset mission. Aiming at the characteristic that the traditional PID control can not adaptively adjust its control parameters, this paper first studies the combination of elitist ant colony system algorithm and PID control, and then proposes a method to improve elitist ant colony system algorithm combined with PID control, The attitude control of the aircraft during the flight process under the interference condition was carried out, and the simulation experiment was carried out. Simulation results show that optimizing elitist ant colony system algorithm to optimize PID control parameters can not only obtain the optimal solution of PID control parameters in a short time, but also improve the convergence speed, as well as better immunity and robustness.