基于四旋翼无人机的粒子群PID控制研究

针对四旋翼无人机PID控制中,凭借经验知识和仿真调试来选取比例、积分、微分等参数时存在盲目性的问题,提出了利用改进后的粒子群算法对PID控制器进行优化的方法.采用自适应惯性权重的方法对粒子群进行优化能够避免在刚开始就陷入局部最优的困境,同时选用ITAE准则作为改进粒子群算法的适应度,以此达到更好的控制效果.通过MATL...

Research on Particle Swarm PID Control of Quadrotor UAV

Aiming at the blind problem of choosing proportion,integral and differential parameters in PID control of quadrotor uav based on experience knowledge and simulation debugging,an improved particle swarm optimization method is proposed to optimize PID controller in this paper.Using the method of adaptive inertia weight to optimize particle swarm optimization can avoid the dilemma of local optimal at the beginning,and the ITAE criterion is used as the fitness of the improved particle swarm optimization algorithm to achieve better control effect.Through MATLAB/Simulink model and simulation,it is proved that the response of adaptive particle swarm PID is faster than the traditional PID,the overshoot is close to 0,and the time to reach stability is shorter.In the case of interference signal,PSO PID algorithm takes 0.15 s less time to recover stability than PID algorithm.