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An Effective 2-DOF (Two Degree-of-Freedom) PID Control of High Speed Attack Unmanned Aerial Vehicles (UAV)
Author(s): 
Pages: 1-7
Year: Issue:  1
Journal: Journal of Northwestern Polytechnical University

Keyword:  约束最优化自由度(力学)扰动抑制飞行控制系统纵向控制多目标优化粒子群优化鲁棒性(控制系统)示意图无人机微分先行PID控制;
Abstract: 高速攻击型无人机的飞行控制系统需要具有最佳的指令跟踪性能、干扰抑制性能和鲁棒性,而传统单自由度PID控制技术只有1组PID参数,无法同时满足上述设计要求,针对这一问题,采用给定值滤波器型二自由度微分先行PID控制技术.通过利用基于改进的粒子群优化算法的H∞参数整定方法进行微分先行PID控制器设计,保证系统“干扰抑制性能及鲁棒性最佳”,通过调节二自由度化系数(给定值滤波器设计),确保系统“指令跟踪性能最佳”.以俯仰控制回路设计为例,经仿真与对比研究,结果表明,该控制技术克服了单自由度PID控制技术的不足,控制回路的控制品质满足设计要求.
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