Double fuzzy control system and method for longitudinal attitude of tail seat UAV

Abstract

The invention discloses a double-fuzzy control system and method of tailstock drone longitudinal posture, and relates to the technical field of drone posture control system and method. The system comprises two fuzzy controllers, the fuzzy controller I adopts variable universe fractal thought design, an error e and an error change de serve as inputs of the fuzzy controllers, parameters delta Kp, delta Ki and delta Kd of a PID controller are as outputs, the error change d e and a uniformization error accelerated speed parameter rv are as fractal factors, dynamic response performance of a systemcan be improved, and the problem of pitch attitude loop response slow speed is solved; the fuzzy controller II takes flight speed and system error as input, takes a domain of discourse C as output, uses the output to adjust the output domain of discourse range of the domain of discourse fractal fuzzy controller I in time, so that the parameters of the PID controller not only change with the changeof the system error, but also solve the problem of vibration due to the fact that the pitch attitude loop is affected by the flight speed.

Description

technical field [0001] The invention relates to the technical field of UAV attitude control systems and methods, in particular to a tail seat type UAV longitudinal attitude double-fuzzy control system and method. Background technique [0002] As a new type of UAV, the tail-sit UAV has the advantages of vertical take-off and landing, hovering in the air and fast horizontal flight. Compared with fixed-wing drones, it has lower requirements for take-off and landing conditions, and can perform vertical take-off and landing in mountains, ships, and cities; compared with unmanned helicopters, it has a faster flight speed. This type of unmanned aerial vehicle has strong adaptability and quick response ability, has a wide range of applications, and can meet the needs of various tasks. It is an important direction for the development of the unmanned aerial vehicle field. [0003] There are three flight modes of the tail-sit UAV, which are vertical flight mode, transition flight mode...

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