农药喷洒四轴飞行器的模糊PID姿态控制

为了实现四轴飞行器更稳定的姿态控制,建立了四轴飞行器四元数运动学方程,并给出了四元数微分方程的解析解和数值解,在此基础上求解出了欧拉角.针对农药喷洒四轴飞行器在作业过程中负荷发生改变后影响控制效果的问题,设计了模糊PID控制器,通过Matlab/Simulink仿真,对比传统PID控制效果,验证了算法的可靠性.搭建了飞行器试验平台,在stm32飞控板上编程实现算法.试验中,通过改变飞行器质量,对比了传统PID和模糊PID的控制效果.在飞行器质量改变前后,模糊PID比传统PID的超调量分别降低22%和30%,上升时间分别减少0.06,0.08 s,调节时间分别减少0.70,0.80 s.试验结果表明,模糊PID控制系统较传统PID控制具有响应速度快、超调量小等优点,能更好地满足农业作业四轴飞行器的控制要求.

Attitude control of pesticide spraying quadrotor aircraft based on fuzzy PID

In order to realize a more stable attitude control for quadrotor aircrafts, a quaternion kinematical equation was established, and analytical and numerical solutions of the equation were given respectively, then the Euler angles were obtained. To identify the impact of variable loads on the control effect when a pesticide spraying quadrotor aircraft was working, a fuzzy PID controller was designed. The reliability of the controller was validated by using Matlab/Simulink simulations in comparison with the traditional PID controller. Additionally, a quadrotor aircraft test platform was established by programming the control algorithm on the stm32 flight controller. In the experiment, the control effect of the fuzzy PID was compared with the traditional PID by changing the weight of the aircraft. The overshoot of the fuzzy PID is decreased by 22% and 30%, the rising time is reduced by 0.06 s and 0.08 s, and the settling time is shortened by 0.70 s and 0.80 s, compared with the traditional PID, before and after the weight of the aircraft is changed. The results show that this fuzzy PID control system has the advantages of faster response, less overshoot, etc. than the traditional PID control system, and can meet the requirements on control of pesticide spraying quadrotor aircraft even better.