基于单神经元PID和重力补偿的四旋翼无人机位置姿态控制

IF 0.9 Q3 ENGINEERING, AEROSPACE
Haitao Zhang, L. Yang
{"title":"基于单神经元PID和重力补偿的四旋翼无人机位置姿态控制","authors":"Haitao Zhang, L. Yang","doi":"10.1590/jatm.v15.1303","DOIUrl":null,"url":null,"abstract":"Aimed at the deficiency of existing PID controller for quad rotor UAV, a single neuron PID controller with gravity compensation is presented. After using feed forward control to compensate gravity, the position loop adopts PID control to ensure control accuracy, while the attitude loop adopts single neuron control to increase adaptive ability. Then, by using Matlab/simulink simulation software, the position control of quad rotor UAV is carried out, and the simulation result shows, compared with the traditional double closed loop PID controller, the control algorithm based on the Single Neuron adaptive PID with gravity compensation can effectively improve the robustness and adaptability of the quad rotor UAV system.","PeriodicalId":14872,"journal":{"name":"Journal of Aerospace Technology and Management","volume":"1 1","pages":""},"PeriodicalIF":0.9000,"publicationDate":"2023-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Position and Attitude Control Based on Single Neuron PID With Gravity Compensation for Quad Rotor UAV\",\"authors\":\"Haitao Zhang, L. Yang\",\"doi\":\"10.1590/jatm.v15.1303\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Aimed at the deficiency of existing PID controller for quad rotor UAV, a single neuron PID controller with gravity compensation is presented. After using feed forward control to compensate gravity, the position loop adopts PID control to ensure control accuracy, while the attitude loop adopts single neuron control to increase adaptive ability. Then, by using Matlab/simulink simulation software, the position control of quad rotor UAV is carried out, and the simulation result shows, compared with the traditional double closed loop PID controller, the control algorithm based on the Single Neuron adaptive PID with gravity compensation can effectively improve the robustness and adaptability of the quad rotor UAV system.\",\"PeriodicalId\":14872,\"journal\":{\"name\":\"Journal of Aerospace Technology and Management\",\"volume\":\"1 1\",\"pages\":\"\"},\"PeriodicalIF\":0.9000,\"publicationDate\":\"2023-07-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Aerospace Technology and Management\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1590/jatm.v15.1303\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, AEROSPACE\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Aerospace Technology and Management","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1590/jatm.v15.1303","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, AEROSPACE","Score":null,"Total":0}
引用次数: 0

摘要

针对现有四旋翼无人机PID控制器的不足,提出了一种带重力补偿的单神经元PID控制器。采用前馈控制补偿重力后,位置环采用PID控制保证控制精度,姿态环采用单神经元控制增加自适应能力。然后,利用Matlab/simulink仿真软件对四旋翼无人机进行了位置控制,仿真结果表明,与传统的双闭环PID控制器相比,基于单神经元自适应PID的重力补偿控制算法可以有效地提高四旋翼无人机系统的鲁棒性和自适应性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Position and Attitude Control Based on Single Neuron PID With Gravity Compensation for Quad Rotor UAV
Aimed at the deficiency of existing PID controller for quad rotor UAV, a single neuron PID controller with gravity compensation is presented. After using feed forward control to compensate gravity, the position loop adopts PID control to ensure control accuracy, while the attitude loop adopts single neuron control to increase adaptive ability. Then, by using Matlab/simulink simulation software, the position control of quad rotor UAV is carried out, and the simulation result shows, compared with the traditional double closed loop PID controller, the control algorithm based on the Single Neuron adaptive PID with gravity compensation can effectively improve the robustness and adaptability of the quad rotor UAV system.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
2.00
自引率
0.00%
发文量
16
审稿时长
20 weeks
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信