[1]薛萍,周仁鹤,王宏民. 差分进化算法在四旋翼飞行姿态中的应用[J].哈尔滨理工大学学报,2019,(03):93-99.[doi:10.15938/j.jhust.2019.03.015]
 XUE Ping,ZHOU Ren he,WANG Hong min. Application of Differential Evolution Algorithm in Quadrotors Attitude[J].哈尔滨理工大学学报,2019,(03):93-99.[doi:10.15938/j.jhust.2019.03.015]
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 差分进化算法在四旋翼飞行姿态中的应用()
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《哈尔滨理工大学学报》[ISSN:1007-2683/CN:23-1404/N]

卷:
期数:
2019年03期
页码:
93-99
栏目:
计算机与控制工程
出版日期:
2019-06-24

文章信息/Info

Title:
 Application of Differential Evolution Algorithm in Quadrotors Attitude
文章编号:
1007-2683(2019)03-0093-07
作者:
 薛萍周仁鹤王宏民
 (哈尔滨理工大学 自动化学院,黑龙江 哈尔滨 150080)
Author(s):
 XUE PingZHOU RenheWANG Hongmin
 (School of Automation, Harbin University of Science and Technology, Harbin 150080, China)
关键词:
 四旋翼飞行器模糊推理差分进化算法PID控制器
Keywords:
 quadrotors fuzzy logic differential evolution algorithm PID controller
分类号:
TP391.9
DOI:
10.15938/j.jhust.2019.03.015
文献标志码:
A
摘要:
 无人机技术现已被运用到军事、农业等越来越多的领域。在大多数四旋翼飞行器上仍采用PID控制算法,但其参数的调节要依赖精确的运动学模型,且调节时间较长。针对PID控制器调节时间慢,精度差的问题。采用了一种改进的PID控制器的方法来提高四旋翼飞行器的调整速度和稳定性。研究了基于差分进化算法的PID控制器的系统模型,相比于基于ZieglerNichols调参方法的PID控制器,系统的上升时间提高了36%。并通过matlab仿真,结果表明运用差分进化算法对四旋翼无人机的姿态进行调整,不仅能够提高四旋翼无人机的稳定性,还能提高四旋翼无人机姿态调整的速度。
Abstract:
 Unmanned aerial vehicle (UAV) technology has been applied to more and more fields, such as military and agriculture. The PID control algorithm is still used on most four rotor aircraft, but the adjustment of its parameters depends on the accurate kinematic model and the adjustment time is longer. Aiming at the slow and poor precision of PID controller.An improved PID controller is adopted to improve the speed and stability of the four rotor aircraft. The system model of PID controller based on differential evolution algorithm is studied. Compared to the PID controller based on ZieglerNichols tuning method, the rising time of the system is increased by 36%. Through MATLAB simulation, the results show that the use of differential evolution algorithm to adjust the attitude of the four rotor aircraft can not only improve the stability of the four rotor aircraft, but also improve the speed of the attitude adjustment of the four rotor aircraft.

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备注/Memo

备注/Memo:
 收稿日期: 2017-06-23
基金项目: 哈尔滨市科技创新人才项目(2016RQXXJ055)
作者简介:
周仁鹤(1993—),男,硕士研究生;
王宏民(1962—),男,博士,教授,硕士研究生导师
通信作者:
薛萍(1969—),女,博士,教授,硕士研究生导师,E-mail:1043854913@qq.com.
更新日期/Last Update: 2019-06-20