Abstract

Due to the large change of the mass and the nonlinear relationship between propeller speed and lift force of the quadrotor unmanned aerial vehicle(UA V) during the working process, it requires that the control system's parameters could be adjusted automatically to adapt to the change of the system. Consider the advantages and disadvantages of fuzzy control and PID control, an improved fuzzy adaptive stabilization PID control system is proposed. Based on the dynamic model of the control system, a control system of fuzzy adaptive PID control of the outer loop angle and PID control of the inner-loop angular speed was built. The conventional PID control, cascade-stabilized PID control and fuzzy adaptive stabilization PID control were simulated by software. And the response performance and anti-jamming performance of the three kind of control strategies was obtained, the simulation results show that the fuzzy adaptive stabilization PID control effect is better than the other two control strategies, through the parameter debugging experiment and the actual flight experiment shows plant protection quadrotor UAV using fuzzy adaptive stabilization PID control system can achieve very good control results.

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