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应用科学学报 ›› 2004, Vol. 22 ›› Issue (4): 498-502.

• 论文 • 上一篇    下一篇

基于模糊PID的无人直升机解耦控制研究

曾丽兰, 王道波, 樊春霞   

  1. 南京航空航天大学自动化学院 江苏南京 210016
  • 收稿日期:2003-08-16 修回日期:2004-02-25 出版日期:2004-12-31 发布日期:2004-12-31
  • 作者简介:曾丽兰(1976-),女,贵州贵阳人,博士生;王道波(1952-),男,河北易县人,教授,博导.

An Unmanned Helicopter Decoupling Control Based on the Fuzzy PID Control Method

ZENG Li-lan, WANG Dao-bo, FAN Chun-xia   

  1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2003-08-16 Revised:2004-02-25 Online:2004-12-31 Published:2004-12-31

PDF

78

被引次数

35

摘要： 针对具有非线性强、多变量耦合的无人直升机,设计了一种基于模糊逻辑PID控制方法,应用于姿态解耦,并且运用混沌优化理论对控制参数进行寻优.经仿真表明,这种方法控制效果好,鲁棒性强,易于工程实现.

关键词: 混沌寻优, 仿真, 无人直升机, 模糊控制, PID控制

Abstract: The unmanned helicopter is a strong nonlinear and multi-variable coupled system. Baseing on fuzzy PID control method, this paper proposes a decoupling control for the unmanned helicopter. The method can be applied to the unmanned helicopter's attitude decoupling. It can also search for the best control parameters by using the chaos-optimize theory. The simulation result shows that the proposed control strategy can attain high control performance and good robustness, and can be easily realized.

Key words: unmanned helicopter, fuzzy control, PID control, simulation, chaos-optimize

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