Four-rotor aircraft attitude control method based on factor self-adaptive fuzzy PID

A four-rotor aircraft, adaptive fuzzy technology, applied to controllers with specific characteristics, electric controllers, etc., can solve the problem that quantization factors and scaling factors cannot be optimized in real time

Active Publication Date: 2018-09-18
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

[0004] In view of this, the object of the present invention is to propose a factor adaptive fuzzy PID control method for the above-mentioned quantization factor and scaling factor of the prior art that cannot be optimized in real time, which can realize the online adjustment of quantization factor and scaling factor, The performance of the fuzzy PID controller is improved, so that the anti-interference ability of the quadrotor aircraft is enhanced, and the real-time adjustment of the flight attitude is realized.

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  • Four-rotor aircraft attitude control method based on factor self-adaptive fuzzy PID
  • Four-rotor aircraft attitude control method based on factor self-adaptive fuzzy PID
  • Four-rotor aircraft attitude control method based on factor self-adaptive fuzzy PID

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with accompanying drawing.

[0029] 1. The quadrotor aircraft includes a power supply module, a processor module, a sensor module including an attitude sensor module and an air pressure sensor module, and an actuator motor. The overall block diagram of the system is as follows: figure 1 The attitude sensor is used to collect the acceleration and angular velocity information of the quadrotor aircraft in real time, and the current attitude angle information of the quadrotor aircraft is obtained through attitude calculation.

[0030] 2. figure 2 It is a control schematic diagram of a factor adaptive fuzzy PID control method proposed by the present invention, which includes input signal IN, quantization factor scaling factor fuzzy controller module, PID adaptive fuzzy controller module, and conventional PID controller module , the controlled object quadrotor aircraft, the attitude sensor module, and the ...

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Abstract

The invention discloses a four-rotor aircraft attitude control method, which comprises the steps of: firstly, acquiring current attitude angle information of a four-rotor aircraft, wherein attitude angles include a pitch angle, a roll angle and a yaw angle; calculating an error amount between a given desired attitude angle and the current attitude angle; then determining a fuzzy logic relationshipamong a quantization factor, a scaling factor and errors and an error change rate, and developing a fuzzy rule table; and finally, regarding the errors and the error change rate as input, and regarding the quantization factor and the scaling factor as output to establish a fuzzy PID controller based on factor self-adaption, thereby realizing online real-time adjustment of the quantization factorand the scaling factor. The four-rotor aircraft attitude control method has better dynamic tracking effect and system robustness, and provides a reliable guarantee for the four-rotor aircraft to complete a flight mission more flexibly.

Description

technical field [0001] The invention belongs to the technical field of quadrotor aircraft control, and relates to an algorithm capable of realizing stable control of the attitude of the quadrotor aircraft. Background technique [0002] In recent years, quadrotor aircraft has attracted more and more attention from researchers because of its characteristics of vertical takeoff and landing, load carrying, convenient control, low cost and simple structure. Due to these characteristics, quadrotor aircraft are widely used in many fields such as: monitoring security, search and rescue, aerial photography, military investigation and other fields. However, the quadrotor aircraft system is very complex, with the characteristics of multivariable, nonlinear, strong coupling, underactuation, etc., and it is vulnerable to system uncertainty and external interference during flight, which affects stability. It is more difficult. In the quadrotor aircraft control system, attitude control i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 朴昌浩宫娟马艺玮
Owner CHONGQING UNIV OF POSTS & TELECOMM
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