PSO algorithm tuning PI_ PID controller parameters of quad-rotor UAV

Abstract

Aiming at the difficulty in tuning the parameters of the quad-rotor UAV PID controller, the paper uses the PSO (Particle swarm optimization) algorithm to intelligently optimize the PID controller parameters of the quad-rotor UAV. The paper proposes to set the fitness function of the PID controller’s PSO algorithm with the controller’s adjustment time and overshoot. The PSO algorithm is a kind of bionic algorithm that birds are not. It can iterate through a huge number of particles and after a specified number of iterations, and finally find the method of the global optimal solution. In this paper, the attitude control of the pitch direction of the quad-rotor UAV is tested. In order to meet the control accuracy of the quad-rotor, the PI_PID controller is used as the attitude control of the pitch in the experimental part. The PSO algorithm can be used to quickly tune the parameters of the quad-rotor UAV PID controller. The PID controller tuned by the PSO algorithm has a shorter adjustment time and lower overshoot. It can make the attitude of the quad-rotor, have better control effect.