PID optimization control method of four-rotor aircraft

A quadrotor aircraft, optimized control technology, applied in the direction of attitude control, adaptive control, general control system, etc., can solve problems such as strong coupling, unstable dynamic characteristics, etc., and achieve the effect of controller parameter optimization

Inactive Publication Date: 2014-06-11
湖北蔚蓝通用航空科技股份有限公司
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Problems solved by technology

[0002] The quadrotor aircraft is a non-coaxial multi-rotor aircraft capable of vertical take-off and landing. It can control the flight attitude of the quadrotor aircraft only by adjusting the speed of the four rotors distributed in a butterfly shape. It is a six-rotor aircraft. The nonlinear underactuated system with degrees of freedom and 4 control inputs has the characteristics of being sensitive to the outside world and

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  • PID optimization control method of four-rotor aircraft
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Embodiment Construction

[0051] The invention discloses a PID optimization control method of a quadrotor aircraft, comprising the following steps:

[0052] 1) Dynamic modeling of the aircraft;

[0053] 2) Design the PID controller on the basis of the dynamic model;

[0054] 3) Use particle swarm optimization algorithm to optimize the parameters of PID controller;

[0055] 4) The movement of particles in the standard particle swarm optimization algorithm changes the direction and speed of particles based on its own local optimum and global optimum, and it is easy to fall into local optimum, especially for multi-peak functions. In order to better optimize the control of PID parameters, the improved particle swarm algorithm and genetic algorithm are combined to further optimize the controller parameters;

[0056] The dynamic modeling of the aircraft in the preceding step 1) is completed according to the following steps:

[0057] In order to obtain the mathematical model of the quadrotor aircraft, two ba...

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Abstract

The invention discloses a PID optimization control method of a four-rotor aircraft. The method includes the following steps that power performance modeling is carried out on a PID controller; the PID controller is designed based on a power performance model; parameters of the PID controller are optimized through the particle swarm optimization algorithm; the parameters of the PID controller are further optimized through the combination of an improved particle swarm optimization algorithm and the genetic algorithm. According to the method, the improved particle swarm optimization algorithm is adopted to optimize the parameters of the PID controller, the speed and position of a particle are changed through comprehensive learning of surrounding particles, and better performance can be easily achieved through sufficient learning. A first particle can be updated to an optimal position after comprehensive learning of the surrounding particles; to avoid local optimum, especially for multi-peak functions which are prone to local optimum, the particles are recombined through selection, crossing and mutation of the genetic algorithm, and the prematurity phenomenon of the particles is avoided.

Description

technical field [0001] The invention belongs to the technical field of control of quadrotor aircraft, and in particular relates to a control method of a quadrotor aircraft based on PID optimization. Background technique [0002] The quadrotor aircraft is a non-coaxial multi-rotor aircraft capable of vertical take-off and landing. It can control the flight attitude of the quadrotor aircraft only by adjusting the speed of the four rotors distributed in a butterfly shape. It is a six-rotor aircraft. The nonlinear underactuated system with degrees of freedom and 4 control inputs has the characteristics of being sensitive to the outside world and its own anti-interference. The main problem of control is to solve the strong coupling and unstable dynamic characteristics. Since there is no need for an empennage, the structure of the quadrotor aircraft is more compact, and the lifting force of the four rotors is more uniform than that of the single rotor, so the flight attitude is mo...

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Application Information

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IPC IPC(8): G05B13/04G05D1/08
Inventor 宋谨韩松张庆
Owner 湖北蔚蓝通用航空科技股份有限公司
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