CAJ | 학술논문

针对当前植保四轴飞行器在作业过程中自身载荷发生改变后的飞行控制性能下降、抵抗环境扰动能力差的问题，该文改进了传统比例积分微分（proportion, integration, differentiation, PID）控制算法，提出了一种模糊PID控制算法。该文通过研究四轴飞行器的姿态解算和飞行原理，设计了以STM32系列的单片机为核心处理器的四轴飞行控制系统。采用AHRS模块实时解算飞行器姿态参数，结合模糊控制和PID控制算法调节电机的输出量来控制飞行姿态。试验结果表明：与传统PID相比，模糊自整定PID控制算法适应性强，参数整定简单，系统的动态响应能力和稳定性获得了提高，实现了四轴飞行器的稳定飞行。该文为植保无人机控制算法研究提供了一定的参考。
침대당전식보사축비행기재작업과정중자신재하발생개변후적비행공제성능하강、저항배경우동능력차적문제，해문개진료전통비례적분미분（proportion, integration, differentiation, PID）공제산법，제출료일충모호PID공제산법。해문통과연구사축비행기적자태해산화비행원리，설계료이STM32계렬적단편궤위핵심처리기적사축비행공제계통。채용AHRS모괴실시해산비행기자태삼수，결합모호공제화PID공제산법조절전궤적수출량래공제비행자태。시험결과표명：여전통PID상비，모호자정정PID공제산법괄응성강，삼수정정간단，계통적동태향응능력화은정성획득료제고，실현료사축비행기적은정비행。해문위식보무인궤공제산법연구제공료일정적삼고。
As quadrocopters can fly stably and be controlled flexibly so that they could fulfill the requirements for seeding, farmland information acquisition and ultra-low-volume spraying. Conventional PID control algorithm could hardly resist the environmental perturbation as structural parameters changed. In this study, a fuzzy proportion, integration and differentiation (PID) control algorithm was proposed to improve the robustness of a plant protection quadrocopter when the load changed during the operation. In the fuzzy PID control algorithm, the errors of the attitude angle and the angular speed were detected and imported into the fuzzy rule table, where correction amount was then calculated and used to correct the initial PID parameters. The updated attitude angle and the angular speed could meet the requirements of the system with a better static and dynamic performance during flight. A quadrocopter control system using STM32 Micro Control Unit (MCU) as the core processor was designed based on the study of the flight theory of aircrafts and the methods of attitude determination. The attitude heading reference system (AHRS) module was adapted as a real-time solver to determine the aircraft attitude parameters so that the flight attitude could be controlled by fuzzy PID algorithm. The matlab-simulink software was used in this study to simulate the conventional PID and fuzzy PID control algorithms and the simulation results were analyzed and compared. For the conventional PID algorithm, the overshoot of the system was 41.9%with the rising time of 0.78 s. With the fuzzy PID control algorithm, the overshoot of the system was 28.6%and the rising time was 0.69 s. With fuzzy PID control algorithm, the overshoot of the system decreased 13.3%and the rising time reduced 0.09 s compared with the conventional PID algorithm with the scaling factor as 5, integral coefficient as 0.03, differential coefficient as one and system gain as one. Using other parameters have also led to similar results, which indicated that fuzzy PID control algorithm had a better control performance. Moreover, experiments were conducted to verify the simulation results. The results showed that, the system performed in a stable way under a small load with the control of the fuzzy PID algorithm;however, this cannot be achieved by using the conventional PID algorithm under same condition. With the conventional PID algorithm, the overshoot of the system was 37.5%and the rising time was 0.62 s with a heavy load. While, the overshoot of the system was 22.5%and the rising time was 0.57s when the fuzzy PID control algorithm was adopted. The overshoot of the system decreased 15.0%and the rising time reduced 0.05 s, which agreed well with the simulation results. The results showed that the fuzzy PID algorithm had a stronger adaptability with easier adjustment of working parameters and can lead to quicker dynamic response capability and more stability of the system when compared with the conventional PID algorithm. The performance and disturbance rejection ability of the plant protection quadrocopter were significantly improved by using the proposed fuzzy PID algorithm. This study can provide a reference for the research of plant protection aircraft control algorithm.