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在利用时滞比例-积分-微分(PID)算法对姿态进行控制的飞行器控制系统中,针对时滞系统对四旋翼飞行器的影响,设计了四旋翼飞行器的抗干扰控制器,使其在均值为300 ms的时滞系统作用下,将平均超调量控制在20%以内.该设计首先对飞行器进行物理建模,在传统飞行器控制系统回路中引入多层控制,运用线性二次型最优控制(LQR)算法进行姿态角外控制,减小时滞对系统的影响,使飞行器控制系统的姿态调整更具快速性、稳定性和鲁棒性.再根据物理模型的传递函数,引入粒子群算法,对PID算法进行参数的整定.最后利用蒙特卡洛模拟验证算法的可行性.经过相关调试工作,由此系统构成的小型四旋翼飞行器能够在抗干扰通信、编队飞行等系统中稳定飞行.
In the aircraft control system which controls the attitude by using the time-delay proportional-integral-derivative (PID) algorithm, the anti-jamming controller of the quadrotor is designed for the influence of time-delay system on the quadrotor. 300 ms time delay system, the average overshoot is controlled within 20% .This design first physical modeling of the aircraft, the introduction of multi-layer control in the traditional aircraft control system loop, the use of linear quadratic optimal control (LQR) algorithm is used to control the attitude outside the attitude, so as to reduce the influence of time delay on the system and to make the attitude control of the aircraft more rapid, stable and robust.According to the transfer function of physical model, the particle swarm optimization (PSO) The parameters of the PID algorithm are set.At last, the feasibility of the algorithm is verified by Monte-Carlo simulation.After the related debugging work, the small four-rotor aircrafts formed by this system can fly steadily in anti-jamming communication, formation flight and other systems.