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Method and device for fuzzy self-tuning PID controlling of tandem unmanned helicopters

A technology of unmanned helicopter and fuzzy control algorithm, which is applied in the direction of adaptive control, attitude control, general control system, etc., can solve the problems of poor robustness and anti-interference ability, and achieve the goal of improving robustness and anti-interference ability Effect

Inactive Publication Date: 2019-10-25
CHINA AGRI UNIV
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Problems solved by technology

[0006] Embodiments of the present invention provide a fuzzy self-tuning PID control method and device for tandem unmanned helicopters, which are used to solve the technical problems of poor robustness and anti-interference ability of tandem unmanned helicopters in the prior art

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  • Method and device for fuzzy self-tuning PID controlling of tandem unmanned helicopters
  • Method and device for fuzzy self-tuning PID controlling of tandem unmanned helicopters

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Embodiment Construction

[0048] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0049] figure 1 The schematic diagram of the fuzzy self-tuning PID control method for the tandem unmanned helicopter provided by the embodiment of the present invention, such as figure 1 As shown in the figure, an embodiment of the present invention provides a tandem unmanned helicopter fuzzy self-tuning PID control method, the execution su...

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Abstract

The embodiment of the invention provides a method and device for fuzzy self-tuning PID controlling of tandem unmanned helicopters. The method comprising: according to a deviation value and a deviationchange rate of a flight state parameter, correcting system parameters of a PID controller based on a preset fuzzy control algorithm model; and inputting the deviation value and deviation change rateof the flight state parameter and the corrected system parameters into the PID controller, and outputting a control amount of an execution mechanism. According to the method and device for fuzzy self-tuning PID controlling of tandem unmanned helicopters, the fuzzy intelligence idea is introduced based on the classical PID control; and on-line self-tuning of system parameter correction values of the PID controller is realized by finding out relationships between the system parameters and the deviation value and the deviation change rate of the PID controller, so that a real-time self-tuning problem of the PID controller system parameters is solved. Therefore, the static and dynamic control performances of the tandem unmanned helicopters are improved; and the robustness and immunity to interference of the system are enhanced.

Description

technical field [0001] The invention relates to the technical field of unmanned helicopter control, in particular to a tandem unmanned helicopter fuzzy self-tuning PID control method and device. Background technique [0002] With the continuous expansion of the application field of unmanned aerial vehicle (UAV), the research of unmanned helicopter control technology has been stimulated. In the family of unmanned helicopters, although the market share and research interest of tandem unmanned helicopters are not as good as those of conventional unmanned helicopters, tandem unmanned helicopters play an important role in vertical take-off aircraft. [0003] The tandem unmanned helicopter has two rotors, one is counterclockwise and the other is clockwise. This makes the anti-torques of the front and rear rotors cancel each other out, so no additional systems are needed, such as the tail rotor of a single-rotor unmanned helicopter, which can save about 7% of the hovering energy c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/10G05D1/08
CPCG05B13/042G05D1/0808G05D1/101
Inventor 高万林何志辉何雄奎刘云玲王敏娟赵龙
Owner CHINA AGRI UNIV
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