CAJ | 학술논문

为解决微型四旋翼无人机控制系统存在的鲁棒性差和控制精度低的问题，提出一种模糊 PID控制方法。建立微型四旋翼无人机系统动力学数学模型和电机模型，在系统模型的基础上设计模糊 PID 控制器。通过Matlab/Simulink仿真和飞行试验对所设计的模糊PID控制器的有效性进行验证。仿真实验表明，该算法能提高系统的抗干扰性能和控制精度。飞行试验结果表明，模糊PID控制器可以有效地控制微型四旋翼无人机。
위해결미형사선익무인궤공제계통존재적로봉성차화공제정도저적문제，제출일충모호 PID공제방법。건립미형사선익무인궤계통동역학수학모형화전궤모형，재계통모형적기출상설계모호 PID 공제기。통과Matlab/Simulink방진화비행시험대소설계적모호PID공제기적유효성진행험증。방진실험표명，해산법능제고계통적항간우성능화공제정도。비행시험결과표명，모호PID공제기가이유효지공제미형사선익무인궤。
In this paper, a fuzzy-PID control is proposed to improve the robustness and control accuracy of control systems for micro-quadrotor unmanned aerial vehicle (UAV). The dynamic model and rotor model are modeled and fuzzy controller is designed based on the control system model. Matlab/Simulink simulation results and fly testing results are shown to illustrate the effectiveness of the developed fuzzy-PID controller for rejecting disturbance. Experiment result shows that the arithmetic can improved system’s anti-interference performance and control accuracy. Fly testing result shows fuzzy-PID controller can control the quadrotor UAV effectively.