基于Anti-windup PID的四旋翼飞行器姿态控制研究

针对四旋翼飞行器姿态控制问题,设计一种Anti-windup PID姿态控制器。结合四旋翼飞行器简化的数学模型,在飞行器在垂直速率、俯仰速率、翻滚速率、偏航速率4个独立通道上分别设计了PID控制器和Anti-windup PID控制器。在MATLAB/SIMULINK环境下,对控制四旋翼飞行器姿态的两种算法进行仿真分析。仿真结果表明,Anti-windup PID控制方法在性能上明显优于PID,对飞行器有良好的控制效果。用Anti-windup PID算法搭建的四旋翼飞行器的物理实验平台更好地验证了该算法的有效性。

Attitude Control Research of Quad-rotor Aircraft Based on Anti-windup PID

Aiming at the attitude control problem of four rotor aircraft,a PID Anti-windup attitude controller was designed.Based on the simplified mathematical model of the four rotor aircraft,the PID controller and PID Anti-windup controller were designed respectively on the four independent channels of the aircraft in the vertical velocity,the pitch rate,the roll rate and yaw rate.In the MATLAB/SIMULINK environment,the simulation analysis of the two algorithms to control the attitude of the four rotor aircraft was carried out.The simulation results show that the PID Anti-windup control method is superior to PID in performance,and has a good control effect on the aircraft.PID Anti-windup algorithm is used to build the physical experiment platform of the four rotor aircraft,which is better to verify the effectiveness of the algorithm.