广东工业大学学报 ›› 2020, Vol. 37 ›› Issue (01): 87-94.doi: 10.12052/gdutxb.190102

• 综合研究 • 上一篇    下一篇

多旋翼无人机自主精准降落的控制系统研究

曾振华1, 郑汇峰1, 祝玉杰1, 罗志勇2   

  1. 1. 广东工业大学 自动化学院, 广东 广州 510006;
    2. 广州优飞信息科技有限公司, 广东 广州 510006
  • 收稿日期:2019-08-09 出版日期:2020-01-25 发布日期:2019-12-31
  • 作者简介:曾振华(1994-),男,硕士研究生,主要研究方向为智能优化算法、无人机控制系统,E-mail:2930630089@qq.com
  • 基金资助:
    广东省自然科学基金资助项目（2018A0303130137）；广东省哲学社会科学规划学科共建项目（GD18XJY05）；广东省高性能计算重点实验室开放项目（TH1528）；深圳市南山区科技计划项目（2018050）

A Research on Control System of Multi-rotor UAV Self-precision Landing

Zeng Zhen-hua1, Zheng Hui-feng1, Zhu Yu-Jie1, Luo Zhi-Yong2   

  1. 1. School of Automation, Guangdong University of Technology, Guangzhou 510006, China;
    2. Guangzhou Ufly Information Technology Co., Ltd., Guangzhou 510006, China
  • Received:2019-08-09 Online:2020-01-25 Published:2019-12-31

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摘要： 针对多旋翼无人机降落时采用位置控制方式存在位置振荡和速度超调现象的问题，本文采用速度控制的方式进行降落，构建了一个完整的精准降落闭环速度控制系统。首先建立无人机精准降落速度控制系统的总体框架；然后进行无人机降落时多个坐标系之间的转换；再设计外环速度的"比例-积分-微分"（Proportion-Integral-Derivative，PID）控制系统和模糊自适应速度PID控制系统；最后进行2种控制系统的性能测试和对比实验。结果表明，无人机在这2种控制系统下均能成功降落到地面靶标上，且模糊自适应速度PID控制系统降落精度更高，达到了0.13 m以内。因此多旋翼无人机采用模糊自适应速度PID控制系统可实现自主精准降落。

关键词: 多旋翼无人机, 模糊自适应, PID控制, 闭环, 精准降落

Abstract: In view of the problem of positional oscillation and speed overshoot in the position control mode of multi-rotor UAV landing, the speed control method is adopted to land and a complete closed-loop speed control system constructed for precise landing. Firstly, the overall framework of UAV precise landing speed control system is established; secondly, the coordinate system of UAV landing and the transformation between coordinate systems are constructed; then, the outer-loop speed PID(Proportion-Integral-Derivative) control system and the fuzzy adaptive speed PID control system are designed; and finally, the performance tests and comparative experiments of the two control systems are carried out. The results show that the UAV can successfully land on the ground target under these two control systems, and the fuzzy adaptive speed PID control system has a higher landing accuracy, which is less than 0.13 meters. It can be seen that the multi-rotor UAV has realized the autonomous precise landing by adopting the fuzzy adaptive speed PID control system.

Key words: multi-rotor UAV, fuzzy adaptive, PID control, closed-loop, precise landing

中图分类号: 

  • V249.122
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