【摘要】 共轴双旋翼舵机控制是一种复杂的机电一体化位置随动控制系统，其控制精度在操纵飞行姿态时起着关键性作用。由于普通舵机在飞机独特的飞行环境适应性方面有所欠缺，其跟踪偏角精确度及稳定性仍有待提高。通过分析微型无人机操纵原理和结构，分别建立了位置环、电流环双比例-积分-微分(proportional-integral-derivative, PID)舵机控制系统和转变位置环模糊PID舵机控制系统数学模型，结合实际飞行工况，运用Fuzzy编辑和Simulink模块进行仿真，分析共轴双旋翼操纵舵机控制系统的动静态特性。结果表明：具有电流环PID、位置环模糊PID控制的舵机控制系统较双PID控制系统的超调量减少了28.6%,调整时间减少了28%,响应速度更快；同时模糊PID参数实时调节跟踪变化，能更快适应共轴双旋翼复杂多变的飞行条件。获得的基于双环模糊PID控制系统展现出较高的精确度，满足复杂工况下工作稳定、准确和鲁棒性好的要求，对共轴双旋翼飞行器控制系统设计具有重要意义。更多还原

【Abstract】 The rudder in the coaxial twin-rotor is a complex mechatronic position-following control system, and its control accuracy plays a key role in manipulating the flight attitude. Because the common rudder is lacking in adapting to the unique flight environment of the aircraft, the accuracy of tracking declination and the stability performance need to improve. The manipulation principle and structure of micro UAV were analyzed, the mathematical models of position loop, current loop double PID steering gear control system and transition position loop Fuzzy PID steering gear control system were established respectively. Combined with the actual flight conditions, the dynamic and static characteristics of the coaxial twin-rotor steering gear control system were analyzed by using Fuzzy editor and Simulink module. The results show that the rudder control system with current loop PID and position loop Fuzzy PID control has 28.6% less overshoot, 28% less adjustment time and faster response than the dual PID control system. Meanwhile, the Fuzzy PID parameters are adjusted in real time to track the changes, which can adapt to the complex and variable flight conditions of the coaxial twin-rotor more quickly. The obtained control system based on dual-loop Fuzzy PID shows high accuracy and meets the requirements of stable, accurate and robust working under complex working conditions, which is of great significance for the control system design of coaxial dual-rotor aircraft.更多还原