黑龙江科技大学学报
黑龍江科技大學學報
흑룡강과기대학학보
Journal of Heilongjiang Institute of Science and Technology
2015年
3期
336-342
,共7页
模糊控制%自适应%PID控制%单轴转台
模糊控製%自適應%PID控製%單軸轉檯
모호공제%자괄응%PID공제%단축전태
fuzzy control%self-adaptive%PID control%uniaxial turntable
为了补偿四旋翼无人机中微机械系统( Micro Electro Mechanical System, MEMS)陀螺仪的漂移误差,提高无人机控制的精度,设计了一种无人机MEMS陀螺仪校准单轴转台系统。由于单轴转台控制系统中存在不同程度的非线性和时变性,所以导致无法得出转台精确的数学模型,以致传统PID控制无法达到理想的控制效果。针对这一问题,提出了模糊控制和PID控制相结合的方法,即模糊自适应PID控制。该控制系统通过模糊规则对PID控制的参数进行在线整定,能够根据实际情况实时在线完成PID控制的参数调整,以保证实现单轴转台的控制精度及快速时间响应能力。实验采用传统PID控制策略与文中所提模糊自适应PID控制策略进行仿真对比,结果表明：模糊自适应PID控制的转台系统超调量小、响应速度快、鲁棒性好,具有控制灵活和适应性强的优势。
為瞭補償四鏇翼無人機中微機械繫統( Micro Electro Mechanical System, MEMS)陀螺儀的漂移誤差,提高無人機控製的精度,設計瞭一種無人機MEMS陀螺儀校準單軸轉檯繫統。由于單軸轉檯控製繫統中存在不同程度的非線性和時變性,所以導緻無法得齣轉檯精確的數學模型,以緻傳統PID控製無法達到理想的控製效果。針對這一問題,提齣瞭模糊控製和PID控製相結閤的方法,即模糊自適應PID控製。該控製繫統通過模糊規則對PID控製的參數進行在線整定,能夠根據實際情況實時在線完成PID控製的參數調整,以保證實現單軸轉檯的控製精度及快速時間響應能力。實驗採用傳統PID控製策略與文中所提模糊自適應PID控製策略進行倣真對比,結果錶明：模糊自適應PID控製的轉檯繫統超調量小、響應速度快、魯棒性好,具有控製靈活和適應性彊的優勢。
위료보상사선익무인궤중미궤계계통( Micro Electro Mechanical System, MEMS)타라의적표이오차,제고무인궤공제적정도,설계료일충무인궤MEMS타라의교준단축전태계통。유우단축전태공제계통중존재불동정도적비선성화시변성,소이도치무법득출전태정학적수학모형,이치전통PID공제무법체도이상적공제효과。침대저일문제,제출료모호공제화PID공제상결합적방법,즉모호자괄응PID공제。해공제계통통과모호규칙대PID공제적삼수진행재선정정,능구근거실제정황실시재선완성PID공제적삼수조정,이보증실현단축전태적공제정도급쾌속시간향응능력。실험채용전통PID공제책략여문중소제모호자괄응PID공제책략진행방진대비,결과표명：모호자괄응PID공제적전태계통초조량소、향응속도쾌、로봉성호,구유공제령활화괄응성강적우세。
This paper introduces a novel UAV uniaxial turntable for MEMS gyroscope calibration sys-tem specifically designed to compensate drift errors found in Micro Electro Mechanical System ( MEMS) Gyroscope of the four rotors unmanned aerial vehicle ( UAV ) and improve the control accuracy of the UAV. This improved system is the combination of fuzzy control and PID control-fuzzy self-adaptive PID control,as a way to address the different degrees of nonlinearity and time-varying characteristics inherent in the uniaxial turntable control system-the drawbacks that make impossible the development of an accu-rate mathematic model, thus contributing to the inability of the conventional PID control strategy PID con-trol method to produce the perfect control effect. The system works by performing online adjustment of PID control parameters of the control system using fuzzy rules and enables real-time and online adjustment of PID control parameters, as is required by the actual situation, thus ensuring the control accuracy and time response ability of the uniaxial turntable. The control performance of the proposed fuzzy self-adaptive PID control is validated by simulation contrast between the proposed fuzzy self-adaptive PID control strate-gy and the conventional PID control strategy. The turntable system specific to the fuzzy self-adaptive PID control performs with a greater adjustability and flexibility, thanks to advantages such as a smaller over-shoot, faster response, and stronger robustness.
