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Improved particle swarm algorithm optimized fuzzy PID unmanned helicopter attitude control method

A technology for improving particle swarms and unmanned helicopters. It is applied in attitude control, adaptive control, electric controller, etc. It can solve problems such as difficulty in achieving optimality, unsatisfactory adaptive ability and control effect, and cumbersome parameter tuning methods. , to achieve the effect of improving control performance and enriching diversity

Inactive Publication Date: 2019-06-28
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS +2
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Problems solved by technology

Among the linear control methods, the classical PID control is the most widely used at present. Although it has a simple structure and is easy to design and implement, in actual engineering projects, the setting methods of related parameters are cumbersome and often difficult to achieve the optimum, which makes the system unsatisfactory. to better control
Fuzzy control is a nonlinear control method with good control performance, but the fuzzy PID controller also has shortcomings. Quantization and proportional factor determination, membership function selection and fuzzy rule table formulation have an important impact on the control effect, but only Can rely on expert experience and engineering experience to obtain, cannot avoid interference caused by special conditions, self-adaptive ability and control effect are not ideal

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  • Improved particle swarm algorithm optimized fuzzy PID unmanned helicopter attitude control method
  • Improved particle swarm algorithm optimized fuzzy PID unmanned helicopter attitude control method
  • Improved particle swarm algorithm optimized fuzzy PID unmanned helicopter attitude control method

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Embodiment Construction

[0017] An improved particle swarm optimization algorithm to optimize the fuzzy PID unmanned helicopter attitude control method, which needs to control the three attitude angles of the unmanned helicopter's pitch angle, roll angle, and yaw angle respectively, and the parameter that needs to be optimized is the quantization in the fuzzy PID controller Factor K e 、K ec and scaling factor K u ={K 1 ,K 2 ,K 3}Five parameters, the steps are basically the same, such as figure 1 As shown, it specifically includes the following steps:

[0018] Step 1, use the mechanism modeling method to obtain the dynamics and kinematics model of the unmanned helicopter, and design the fuzzy PID attitude controller based on the model, the structure is as follows figure 2 As shown, the desired attitude angle of the unmanned helicopter is selected and the actual attitude angle error and its error rate of change As an input variable, the parameter adjustment amount Δk of the attitude angle...

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Abstract

The invention provides an improved particle swarm algorithm optimized fuzzy PID unmanned helicopter attitude control method. The method comprises steps as follows: S1, a fuzzy PID attitude controlleris designed according to unmanned helicopter dynamics and kinematics model obtained with a mechanism modeling method, an error of an unexpected attitude angle and an actual attitude angle and an errorchange rate are controlled by a controller, and a parameter adjustment amount of the fuzzy PID attitude controller is obtained; S2, a quantification factor and a scaling factor in the fuzzy PID attitude controller are optimized with an improved particle swarm algorithm; S3, the optimized quantification factor and the optimized scaling factor are assigned to the PID attitude controller.

Description

technical field [0001] The invention relates to an unmanned helicopter control technology, in particular to an improved particle swarm algorithm optimization fuzzy PID attitude control method for an unmanned helicopter. Background technique [0002] UAV is the abbreviation of unmanned aircraft. Compared with manned aircraft, UAV can reduce the structural weight of the UAV related to the weight of the pilot itself, increase the payload, reduce the cost, reduce the volume, and be more concealed. In some special cases, UAVs can perform higher-risk tasks that manned aircraft cannot perform, and the design flexibility is high. As a kind of unmanned aerial vehicle, unmanned helicopter has higher flight stability than fixed-wing unmanned aerial vehicles, can realize vertical take-off and landing and hovering in the air, has better maneuverability and flexibility, and can be used in complex terrain Or flying in a narrow space, it is widely used in military and civilian fields. [...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05B13/04G05B11/42
Inventor 李志宇宋一可展凤江宋彦国王从庆孙占杰郭剑东高艳辉
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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