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

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...

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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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