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A Quadrotor Attitude Control Method Based on Factor Adaptive Fuzzy PID

A four-rotor aircraft, adaptive fuzzy technology, applied to controllers with specific characteristics, electric controllers, etc., can solve the problem that quantization factors and scaling factors cannot be optimized in real time

Active Publication Date: 2021-12-17
CHONGQING UNIV OF POSTS & TELECOMM
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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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  • A Quadrotor Attitude Control Method Based on Factor Adaptive Fuzzy PID
  • A Quadrotor Attitude Control Method Based on Factor Adaptive Fuzzy PID
  • A Quadrotor Attitude Control Method Based on Factor Adaptive Fuzzy PID

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Embodiment Construction

[0028] The present invention will be further described below in conjunction with accompanying drawing.

[0029] 1. The quadrotor aircraft includes a power supply module, a processor module, a sensor module including an attitude sensor module and an air pressure sensor module, and an actuator motor. The overall block diagram of the system is as follows: figure 1 The attitude sensor is used to collect the acceleration and angular velocity information of the quadrotor aircraft in real time, and the current attitude angle information of the quadrotor aircraft is obtained through attitude calculation.

[0030] 2. figure 2 It is a control schematic diagram of a factor adaptive fuzzy PID control method proposed by the present invention, which includes input signal IN, quantization factor scaling factor fuzzy controller module, PID adaptive fuzzy controller module, and conventional PID controller module , the controlled object quadrotor aircraft, the attitude sensor module, and the ...

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Abstract

The invention discloses a method for attitude control of a four-rotor aircraft. First, the current attitude angle information of the four-rotor aircraft is obtained, and the attitude angle includes pitch angle, roll angle and yaw angle, and the given desired attitude angle and current attitude are calculated. Then determine the fuzzy logic relationship between quantization factor, scaling factor, error and error rate of change and formulate a fuzzy rule table. Finally, the error and error rate of change are used as input, and the quantization factor and scaling factor are used as output to establish a system based on The factor self-adaptive fuzzy PID controller realizes the online real-time adjustment of its quantization factor and proportional factor. The control method has better dynamic tracking effect and system robustness, and provides a reliable guarantee for the quadrotor aircraft to complete the 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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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B11/42
CPCG05B11/42
Inventor 朴昌浩宫娟马艺玮
Owner CHONGQING UNIV OF POSTS & TELECOMM
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