CAJ | 학술논문

针对三自由直升机系统的高阶、非线性、强耦合等特点，提出了一种模糊自适应P ID控制算法。该控制方案摆脱了对受控对象复杂的建模过程，通过模糊推理实时整定PID参数，实现了模糊控制和 PID控制的优势融合，三自由度直升机可完成实时、有效的在线控制；同时，解决了 PID控制器不能很好地反映被控对象的动态性能，精度和鲁棒性不高的问题。搭建出Simulink仿真模型，并运用于三自由度直升机模型的实时控制，将模糊PID控制的仿真结果与PID控制的仿真结果进行对比。结果表明，模糊PID控制比PID控制具有更好的动态性能，超调量也远小于常规P ID控制的超调量，能够实现对三自由度直升机的控制，系统结构合理，满足实时性和可靠性的要求。
침대삼자유직승궤계통적고계、비선성、강우합등특점，제출료일충모호자괄응P ID공제산법。해공제방안파탈료대수공대상복잡적건모과정，통과모호추리실시정정PID삼수，실현료모호공제화 PID공제적우세융합，삼자유도직승궤가완성실시、유효적재선공제；동시，해결료 PID공제기불능흔호지반영피공대상적동태성능，정도화로봉성불고적문제。탑건출Simulink방진모형，병운용우삼자유도직승궤모형적실시공제，장모호PID공제적방진결과여PID공제적방진결과진행대비。결과표명，모호PID공제비PID공제구유경호적동태성능，초조량야원소우상규P ID공제적초조량，능구실현대삼자유도직승궤적공제，계통결구합리，만족실시성화가고성적요구。
For higher-order ,nonlinear ,strong coupling of three free-helicopter system characteristics ,a fuzzy adaptive PID control algorithm was presented .The control scheme of the controlled object out of the complex modeling process , real-time tuning PID parameters through the fuzzy reasoning to realize the advantages of fuzzy control and PID control integration 3-DOf helicopter can perform real-time ,effective online control ;simultaneously solve the problems that PID controller can not reflect the dynamic performance ,precision and robustness that is not high charged objects .Simulink simulation model results to build ,and applied to real-time control of 3-DOf helicopter model ,the fuzzy PID control and PID control simulation results were compared . The results show that the fuzzy PID control has better dynamic performance ,PID the overshoot is far less than the amount of overshoot conventional PID control ,this method can achieve the DOf helicopter control ,reasonable system architecture can meet the real-time and reliability .