Neural-fuzzy PID control method of four-rotor aircraft based on repetitive control compensation

Abstract

The invention provides a neural-fuzzy PID control method of a four-rotor aircraft based on repetitive control compensation. The method comprises the following steps that S10) a dynamic model of a four-rotor unmanned aerial vehicle (UAV) is established; S20) neural-fuzzy PID control based on repetitive compensation is carried out; S21) a grid structure in which a neural network generates fuzzy inference (rules) and a PID parameter can be adjusted by itself is designed; and S22) repetitive compensation control is carried out. According to the method provided by the invention, repetitive control based on an internal model principle is embedded into self-adjusting PID closed-loop control in which fuzzy inference is generated on the basis of neural network, neural-fuzzy PID control based on repetitive compensation is formed, the system is still in the closed-loop state, neural-fuzzy PID carries out real-time control adjustment on an output error, a repetitive compensation controller carries out adjustment when the system is in the stable state, output signals can effectively track input signals in the stable state, neural-fuzzy PID adjusts the input signals when interference is relatively high, the signal error is reduced, and the tracking precision of the aircraft system is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a flight control method of a quadrotor unmanned aerial vehicle. Background technique [0002] The quadrotor aircraft has 6 degrees of freedom. Four independent motors drive the propellers to generate lift and thrust, so that the quadrotor aircraft can hover in the air and change the flight attitude. It is a kind of multi-input multi-output, strong coupling, under-actuated nonlinear system. And the flight system requires no overshoot (or small overshoot) and can quickly track the input command, no static error in steady state, strong anti-interference ability and strong robustness when system parameters change. Stickiness. PID control (Proportional-integral-derivative Control) is still the preferred control algorithm for most aircraft because of its simplicity, good stability, good robustness and relatively mature technology compared to other control algorithms....

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of large self-adjustment process error and insufficient tracking accuracy of the PID parameters of the conventional PID algorithm in the flight attitude control method of the quadrotor UAV, and proposes a control method based on repetitive control compensation neuro-fuzzy self-tuning PID , in order to improve the flight performance of quadrotor aircraft

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