【摘要】 在无人机飞行姿态稳定性优化控制的研究中,针对系统噪声复杂的飞行控制,常规PID控制器具有一定局限性,控制器的参数难以自动调整,飞行姿态稳定效果不理想。针对上述问题与难点,研究了卡尔曼滤波器与常规PID控制器相结合的控制优化算法。利用MATLAB平台进行仿真,仿真结果表明设计的控制器跟踪性能较为理想。并搭建了以NI MyRIO-1900为核心控制器的硬件平台进行测试,飞行试验表明设计的卡尔曼滤波PID控制反应快,超调量小。验证了对于无人机四旋翼飞行姿态稳定性控制的优化算法可行有效。更多还原

【Abstract】 Due to the complex noise in flight control system,general PID controller has some limitations( e. g.,it is difficult to automatically adjust the parameters of the controller),so the flight attitude stabilizing effect is not ideal.Against to above problems and difficulties,a control optimization algorithm based on the Kalman filter and General PID controller combination is proposed. A MATLAB simulation results show that the proposed algorithm has good tracking performance. Then a hardware platform with NI MyRIO- 1900 as its core controller is built to test the algorithm. The results of flight test show that the designed PID control based on Kalman Filter has fast response and small overshoot. It verifies that the optimization algorithm used for four- rotor UAV flight attitude stability control is feasible and effective.更多还原