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      2. 農用多旋翼飛行器串級分數階PID控制
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        現代農業(柑橘)產業技術體系建設專項(CARS-26);國家重點研發計劃項目(2017YFD0202001、 2017YFD0701400);中央高?;究蒲袠I務費專項(2662020GXPY012)


        Cascade fractional order PID control of farm unmanned aerial vehicle
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          摘要:

          為提高農用無人機動態性能,基于傳統串級整數階PID控制算法,提出一種串級分數階PID控制算法。以四旋翼無人機為研究對象建模,并利用遺傳算法對串級整數階PID和串級分數階PID參數進行整定,得到最優控制后采用MATLAB/SimuLink仿真分析,〖JP2〗證明串級分數階PID控制效果優于串級整數階PID。以四旋翼無人機實物為對象進行試驗,測試結果表明,串級分數階PID比串級整數階PID的調節時間縮短了0.24 s,總體性能更優,表明仿真結論可靠。研究結果表明,串級分數階PID控制算法可用于農用無人機的飛行控制。

          Abstract:

          The advantages of fractional order PID algorithm compared with traditional integer order PID control algorithm were analyzed to improve the dynamic performance of farm unmanned aerial vehicle (UAV). The fractional order PID algorithm has higher control accuracy. A cascade fractional order PID control algorithm with higher update frequency is proposed based on traditional cascade integer order PID control algorithm and comprehensive implementation difficulty. It uses fractional order PID control algorithm in inner loop and integer order PID control algorithm in outer loop. The four-rotor UAV was modeled,and the parameters of the two algorithms were tuned by genetic algorithm. After obtaining the optimal control,MATLAB/SimuLink was used to simulate and analyze. The results of simulation showed that the overshoot of the two algorithms was close to zero. The regulation time of cascade fractional order PID control algorithm and cascade integer order PID control algorithm was 0.263 s and 0.386 s,respectively.The former is 31.9% less than the latter.It is indicated that effect of the cascade fractional order PID control algorithm is better than that of the cascade integer order PID control algorithm.In order to further compare the two control algorithms,a four rotor UAV is built and tested on a multi degree of freedom test bench which can test the attitude changes of multi axis aircraft.The results showed that the settling time of the cascade fractional-order PID controller was 0.24 s shorter than that of traditional algorithm.The results of simulation and experimental showed that quality of the cascade fractional order PID control algorithm was better than that of the cascade integer order PID control algorithm.The regulation time is short and the regulation process is more stable.The results of comprehensive analyses showed that the cascade fractional order PID control algorithm can further improve the operational sensitivity,optimize the flight control performance,and improve the operation efficiency of multi rotor UAV in agricultural production when applied to agriculture.It can help reduce flight accidents as well.

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        顏家彬,龍長江,李善軍.農用多旋翼飛行器串級分數階PID控制[J].華中農業大學學報,2020,39(5):153-158

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        • 收稿日期:2019-12-08
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        • 在線發布日期: 2020-10-05
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