|
|
论文:2013,Vol:31,Issue(1):1-7 |
|
|
引用本文： |
|
|
耿峰, 祝小平, 周洲, 孟俊生. 一种有效的高速攻击型无人机二自由度PID控制[J]. 西北工业大学 |
|
|
Geng Feng, Zhu Xiaoping, Zhou Zhou, Meng Junsheng. An Effective 2-DOF (Two Degree-of-Freedom) PID Control of High Speed Attack Unmanned Aerial Vehicles (UAV)[J]. Northwestern polytechnical university |
|
|
|
|
|
|
|
| 一种有效的高速攻击型无人机二自由度PID控制 |
|
| 耿峰1,2, 祝小平2, 周洲1, 孟俊生3 |
|
1. 西北工业大学 无人机特种技术重点实验室, 陕西 西安 710072;
2. 西北工业大学 无人机研究所, 陕西 西安 710072;
3. 中国东方航空工程技术公司, 上海 200335 |
| 摘要: |
| 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。 |
| 关键词:
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
|
|
| An Effective 2-DOF (Two Degree-of-Freedom) PID Control of High Speed Attack Unmanned Aerial Vehicles (UAV) |
|
| Geng Feng1,2, Zhu Xiaoping2, Zhou Zhou1, Meng Junsheng3 |
|
1. Science and Technology on UAV Laboratory, Northwestern Polytechnical University, Xi'an 710072, China;
2. Research Institute of UAV, Northwestern Polytechnical University, Xi'an 710072, China;
3. CEA Engineering & Technic, Shanghai 200335, China |
| Abstract: |
| High-speed attack UAV flight control system needs to have the best command tracking performance, dis-turbance rejection performance and robustness, but the traditional single degree of freedom PID controller has onlyone set of PID parameters, thus it can not fully meet these design requirements.To solve this problem, a given val-ue filter-type two-degree-of-freedom differential ahead PID control technology is adopted.Sections 1 through 3 ofthe full paper explain our 2-DOF PID control mentioned in the title, which we believe is effective and whose coreconsists of: (1) in the differential ahead PID controller design, the H ∞ parameter tuning method based on an im-proved particle swarm optimization (PSO) is used to ensure that the system has the best disturbance rejection per-formance and robustness; (2) through adjusting the parameters of given value filter, it guarantees that the systemhas the best tracking performance.Section 4 gives as example a pitch control system design, the simulation results, presented in Figs.4 through 6 and their analysis show preliminarily that the pitch control system is indeed effective:it meets the design requirements and the proposed control technology overcomes the inherent shortcomings of the tra-ditional single degree of freedom PID control. |
| Key words:
constrained optimization
degrees of freedom (mechanics)
disturbance rejection
flight control sys-tems
longitudinal control
multiobjective optimization
particle swarm optimization (PSO)
robust-ness (control systems)
schematic diagrams
unmanned aerial vehicles (UAV);differential ahead
PID control
|
|
| 收稿日期: 2012-03-01
修回日期:
|
| DOI: |
| 通讯作者:
Email： |
| 作者简介: 耿峰(1977-)，西北工业大学博士后，主要从事导航、制导与控制的研究。
|
|
| 相关功能 |
|
|
|
|
| 作者相关文章 |
|
| 耿峰 在本刊中的所有文章 |
| 祝小平 在本刊中的所有文章 |
| 周洲 在本刊中的所有文章 |
| 孟俊生 在本刊中的所有文章 |
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] Minoru Sasaki,Koji Fujihara,Hiroyuki Yamada,et al.Two-Degree-of-Freedom Control of a Self-Sensing Micro-Actuator forHDD.22 nd IEEE International Symposium on Intelligent Control Part of IEEE Multi-Conference on Systems and Control,Singa-pore,2007,302-307
[2] Minoru Sasaki,Toshimi Shimizu,Koji Ikai,et al.Two-Degree-of-Freedom Control System for Motion Control of a FlexibleStacker Crane.SICE Annual Conference,Japan,2008,3272-3277
[3] Papageorgiou G,Glover K.Two-Degree-of-Freedom Control of an Actively Controlled Wind-Tunnel Model.Journal of GuidanceControl and Dynamics,2002,25(3):510-516
[4] Renuganth Varatharajoo,Choo Tech Wooi,Musa Mailah,et al.Two Degree-of-Freedom Spacecraft Attitude Controller.Ad-vances in Space Research,2011,47: 685-689
[5] Sáncheza J,Visioli A,Dormido S.A Two-Degree-of-Freedom PI Controller Based on Events.Journal of Process Control,2011,21: 639-651
[6] Masanori Yukitomo,Takashi Shigemasa,Yasushi Baba,et al.A Two Degrees of Freedom PID Control System,Its Features andApplications.5th Asian Control Conference,2004,456-459
[7] Shamsuzzoha M,Moonyong Lee.Enhanced Disturbance Rejection for Open-Loop Unstable Process with Time Delay.ISA Trans-actions,2009,48(2): 237-244
[8] Alfaro V M,Vilanova R,Arriteta O,et al.Robust Tuning of Two-Degree-of-Freedom (2DOF) PI/PID Based Cascade ControlSystems.Journal of Process Control,2009,19:1658-1670
[9] Cui Jian,Guo Zhongyuan,Yang Zhenchuan,et al.Improvement of Transient Response for Drive Loop of Microgyroscope Using2-DOF PID Controller.6 th IEEE International Conference on Nano/Micro Engineered and Molecular Systems,Kaohsiung,Tai-wan,2011,282-284
[10] Stefan Preitl,Radu-Emil Precup,Claudia-Adina Dragos,et al.Tuning of 2-DOF Fuzzy PI(D) Controllers Laboratory Applica-tions.11th IEEE International Symposium on Computational Intelligence and Informatics,Budapest,Hungary,2010,237－242
[11] 王维杰,李东海,高琪瑞等.一种二自由度 PID 控制器参数整定方法.清华大学学报(自然科学版),2008,48(11):1962-1966
Wang Weijie,Li Donghai,Gao Qirui,et al.Two-Degrees-of-Freedom PID Controller Tuning Method.J Tsinghua Univ (Sci ＆Tech),2008,48(11): 1962-1966 (in Chinese)
[12] 李甲申.实用二自由度 PID 控制.自动化仪表,2000,21(11):10-13Li Jiashen.The Functional PID Controllers with Dual Freedom.Automation Instrumentation,2000,21(11):10-13 (in Chi-nese)
[13] Sadati N,Zamani M,Mohajerin P.Optimum Design of Fractional Order PID for MIMO and SISO Systems Using Particle SwarmOptimization Techniques.The 4th IEEE International Conference on Mechatronics,2007,8-10: 1-6
[14] 陈贵敏,贾建援,韩 琪.粒子群优化算法的惯性权值递减策略研究.西安交通大学学报,2006,40(1):53-56Chen Guimin,Jia Jianyuan,Han Qi.Study on the Strategy of Decreasing Inertia Weight in Particle Swarm Optimization Algo-rithm.Journal of Xi'an Jiaotong University,2006,40(1): 53-56 (in Chinese)
[15] Ho Shinnjang,Ho Shinnying,Shu Lisun.OSA: Orthogonal Simulated Annealing Algorithm and Its Application to DesigningMixed H2 /H ∞ Optimal Controllers.IEEE Trans on Systems,Man,and Cybernetics-Part A: Systems and Humans,2004,34(5):588-600 |
|
|
|
相关文献: |
|
|
1．吴成富, 邵朋院, 戢凤.基于侧滑配平的单副翼极限位置卡死控制方法研究[J]. 西北工业大学, 2014,32(1): 137-141 |
|
|
2．朱学平, 杨军.基于定量反馈理论的攻击型无人机鲁棒飞行控制系统设计[J]. 西北工业大学, 2012,30(1): 56-61 |
|
|
3．聂瑞, 章卫国, 李广文, 刘小雄.基于时域Neal-Smith准则的人机控制系统设计多目标优化研究[J]. 西北工业大学, 2012,30(2): 279-285 |
|
|
4．史静平, 章卫国.基于AMS结构分析的串接链可达集求解与优化设计[J]. 西北工业大学, 2012,30(4): 582-588 |
|
|
5．谭雁英, 孙波, 祝小平, 周洲.无人机自主飞行任务管理器规则集的Petri网建模与验证[J]. 西北工业大学, 2012,30(6): 862-867 |
|
|
|
|
|
|
