| 基于人工鱼群PID控制算法的四旋翼飞行器控制 |
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| 引用本文： | 方璇,钟伯成. 基于人工鱼群PID控制算法的四旋翼飞行器控制[J]. 电子科技, 2015, 28(12): 52 |
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| 作者姓名： | 方璇 钟伯成 |
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| 作者单位： | (上海工程技术大学 电子电气工程学院,上海 201620) |
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| 基金项目： | 上海工程技术大学研究生创新基金资助项目(E1-0903-15-01028) |
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| 摘 要： | 针对传统的试凑法对四旋翼飞行器PID控制参数的整定精确度低等问题,提出采用全局人工鱼群算法将PID的3个参数作为鱼群中的一个个体组合,根据目标函数的变化情况及个体的状态,进行觅食、聚群、追尾等行为选择,从而在全局范围内搜索PID参数的最优组合,并结合动力学模型实现飞行器的飞行控制。仿真结果表明,全局人工鱼群算法具有更高的适应性和鲁棒性,且提高了系统的精度。
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| 关 键 词： | 四旋翼 飞行控制 PID参数整定 人工鱼群算法 |
Four-rotor Unmanned Aerial Vehicles Control System Based on PID Controller of Artificial Fish Swarm Algorithm |
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| FANG Xuan,ZHONG Bocheng. Four-rotor Unmanned Aerial Vehicles Control System Based on PID Controller of Artificial Fish Swarm Algorithm[J]. Electronic Science and Technology, 2015, 28(12): 52 |
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| Authors: | FANG Xuan ZHONG Bocheng |
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| Affiliation: | (School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China) |
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| Abstract: | The tuning of PID parameter of the Four-rotor by trial and error method suffers low accuracy and unstable performance.The global artificial fish swarm algorithm is applied to search the optimal solution in the global scope by preying,following,swarming,etc.The principles of the artificial fish swarm algorithm and PID algorithm are introduced.The application in the Four-rotor unmanned aerial vehicles control system of the algorithm is described in detail.Simulation results show that the controller has better response,adaptability and robustness. |
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| Keywords: | four rotor flight control PID algorithm artificial fish swarm algorithm, |
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