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Method for optimizing PID control four-rotor aircraft flight through crowd search algorithm

A quadrotor aircraft and crowd search technology, which is applied in the field of crowd search algorithm optimization PID control quadrotor aircraft flight, can solve problems such as difficult to achieve expectations, affect the flight attitude of the aircraft, and parameters cannot be self-adjusted

Inactive Publication Date: 2020-06-02
中国人民解放军陆军军事交通学院汽车士官学校
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Problems solved by technology

However, due to the uncertainty of the quadrotor aircraft itself and external interference during flight, the parameters in the PID control cannot be adjusted by themselves, thus affecting the flight attitude of the aircraft, and it is difficult to achieve actual expectations.

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  • Method for optimizing PID control four-rotor aircraft flight through crowd search algorithm
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  • Method for optimizing PID control four-rotor aircraft flight through crowd search algorithm

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Embodiment Construction

[0071] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0072] Refer below figure 1 The quadrotor aircraft of the present invention is further described:

[0073] The quadrotor aircraft includes an aircraft controller 10, a power module 20 connected to the aircraft controller 10, a navigation and inertial measurement module 30, a communication module 40 and a motor drive module 50; wherein the power module 20 is connected to the flight controller 10 And provide electric energy for aircraft; Navigation and measurem...

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Abstract

The invention discloses a method for optimizing PID control four-rotor aircraft flight through a crowd search algorithm. A four-rotor aircraft is controlled through a control method for optimizing thePID control parameter based on the crowd search algorithm, so that the anti-interference capability of the aircraft is enhanced, the robustness of the aircraft is improved, and the flight attitude ofthe aircraft can be self-adjusted in real time when the aircraft is subjected to external interference.

Description

technical field [0001] The invention relates to the technical field of quadrotor aircraft, in particular to a method for optimizing the PID control of a crowd search algorithm to control the flight of a quadrotor aircraft. Background technique [0002] The quadrotor aircraft has 6 degrees of freedom. Four independent motors drive the propellers to generate lift and thrust, so that the quadrotor aircraft can hover in the air and change the flight attitude. It is a kind of multi-input multi-output, strong coupling, under-actuated nonlinear system. PID control is still the preferred control algorithm for most aircraft because of its simplicity, good stability, good robustness and relatively mature technology compared to other control algorithms. However, due to the uncertainty of the quadrotor aircraft itself and external interference during flight, the parameters in the PID control cannot be adjusted by themselves, which affects the flight attitude of the aircraft, and it is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G05D1/10
CPCG05D1/0825G05D1/101
Inventor 赵帅周廷博赵雪清王岩金妍君
Owner 中国人民解放军陆军军事交通学院汽车士官学校
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