| 基于模糊自整定PID的直升机飞行控制律设计 |
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| 引用本文： | 苏延旭,王庆领.基于模糊自整定PID的直升机飞行控制律设计[J].南京气象学院学报,2018,10(2):131-137. |
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| 作者姓名： | 苏延旭 王庆领 |
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| 作者单位： | 东南大学 自动化学院, 南京, 210096;东南大学 复杂工程系统测量与控制教育部重点实验室, 南京, 210096,东南大学 自动化学院, 南京, 210096;东南大学 复杂工程系统测量与控制教育部重点实验室, 南京, 210096 |
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| 基金项目： | 国家自然科学基金（61503079）；江苏省自然科学基金（BK20150625）；中央高校基本科研业务费专项资金；江苏省高校优势学科建设工程项目 |
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| 摘 要： | 在经典PID控制律基础上，引入模糊控制的概念设计模糊自整定PID控制律改进无人直升机姿态回路控制器，实现了PID控制器的参数在线自整定，并改善了控制器性能.通过Matlab对闭环系统进行算法仿真，表明模糊自整定PID控制器能够发挥优于传统PID控制器的控制性能.最后对所设计的控制器进行半物理仿真验证，通过对比典型输入指令下经典PID和模糊自整定PID两种控制器的控制效果，验证了模糊自整定PID对系统性能的优化.
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| 关 键 词： | 飞行控制 模糊控制 PID控制器 半物理仿真 |
| 收稿时间： | 2017/9/23 0:00:00 |
Controller design of self-tuning fuzzy PID for helicopter |
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| SU Yanxu and WANG Qingling.Controller design of self-tuning fuzzy PID for helicopter[J].Journal of Nanjing Institute of Meteorology,2018,10(2):131-137. |
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| Authors: | SU Yanxu and WANG Qingling |
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| Institution: | School of Automation, Southeast University, Nanjing 210096;Key Lab of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096 and School of Automation, Southeast University, Nanjing 210096;Key Lab of Measurement and Control of Complex Systems of Engineering, Ministry of Education, Southeast University, Nanjing 210096 |
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| Abstract: | Based on the traditional PID control law, the flight control laws for attitude control loop of unmanned helicopter are designed using fuzzy control logic.The fuzzy self-tuning PID controller can adapt the parameters of PID controller online, which can improve the controller performance.Utilizing the closed-loop control algorithm simulation in Matlab, the performance of fuzzy self-tuning PID controller is proved to be better than that of the traditional one.Then the hardware in loop is used to verify the proposed controller of this paper, which is based on the ARM STM32 core flight control system.The optimization performance is verified by comparing the zero-state responses of the two controllers with the typical inputs. |
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| Keywords: | flight control fuzzy control proportion integration differentiation (PID) controller hardware in loop |
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