﻿ 基于单神经元PID控制器的四旋翼飞行器航迹控制 Quadrotor Track Control Based on Single Neuron PID Controller

Journal of Aerospace Science and Technology
Vol.05 No.03(2017), Article ID:21576,7 pages
10.12677/JAST.2017.53015

Quadrotor Track Control Based on Single Neuron PID Controller

Lin Luo, Zhongzhi Li

Chengdu University of Information Technology, Chengdu Sichuan

Received: Jul. 18th, 2017; accepted: Jul. 30th, 2017; published: Aug. 2nd, 2017

ABSTRACT

Quadrotor is from initial point flying to target point smoothly, keeping hovering motion. In order to control the stability of flying, the mathematical model and the dynamic model are established firstly. On the basis, the single neuron PID controller is designed. According to the characteristics of the dynamic model, acceleration is analyzed to track path so as to achieve the stability of flight. The establishment of model and the simulation experiment of model are based on Matlab/Simulink platform, and the result of simulation proves the practicability of this method.

Keywords:Quadrotor, Single Neuron PID Controller, Acceleration, Tracking Path

1. 引言

2. 数学模型

1) 机体结构完全对称，采用刚体材料；

2) 忽略地面效应对机体的影响；

3) 机体的质心与机体坐标原点重合。

Figure 1. Mathematical modeling of quadrotor

3. 单神经元PID控制的设计

Figure 2. Controller structure diagram

3.1. 姿态控制

(1)

3.2. 位置控制

(2)

(3)

(4)

3.3. 单神经元PID控制器

(5)

(6)

(7)

(8)

(9)

(10)

4. 实验结果及分析

Figure 3. The principle of control of single neuron PID

Figure 4. Velocity changing curve

Figure 5. Yaw angle changing curve

5. 总结

Quadrotor Track Control Based on Single Neuron PID Controller[J]. 国际航空航天科学, 2017, 05(03): 136-142. http://dx.doi.org/10.12677/JAST.2017.53015

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