一种微小型无人机带死区变增益PID自适应控制器的设计与实现

针对一种常规布局的微小型无人机定点飞行任务中存在的传感器测量精度不高以及发动机振动引起的抖舵问题, 设计了带死区变增益 PID 自适应控制器. 文中给出了滚转、航向、俯仰以及位置反馈信号的融合算法, 有效地实现了对定姿稳定控制以及定高、定航点的轨迹跟踪控制, 并利用实验验证了纵向、滚转和航向三个通道的稳定性. 实验结果表明, 所设计的导航、控制系统能有效抑制不确定项的影响, 且可获得良好的动态跟踪性能.

Design and Realization of Piecewise PID Controller with Deadzone for Micro UAV

In this paper,a piece-wise PID controller is devel- oped for a micro UAV.In UAV's fixed-point flight,the measur- ing precision of transducers needs to be improved and the rudder quivering problem due to engine shake exists.By applying the designed fusion algorithm for rolling,coursing,and pitching,the fixed-attitude stabilized control as well as tracking control of fixed-height and fixed-destination flight can be effectively real- ized.The experimental results verify the stability of pitching and roiling channels and show that the controller has good per- formance in restraining unfavorable effects from uncertainty.In addition,dynamic tracking performance is well guaranteed.