无人机三轴稳定云台的模糊PID控制
郭炳坤，陈水利，吴云东，李渭 （集美大学理学院，福建 厦门 361021）
［摘要］以无人机三轴稳定云台的内框作为研究对象，将自适应卡尔曼滤波算法与模糊PID控制算法相结合，提出了一种基于自适应卡尔曼滤波的模糊PID控制算法.经过Matlab仿真实验表明，相对于经典PID控制算法和模糊PID控制算法而言，该算法在无人机三轴稳定云台的控制上，不仅响应速度快、精度高，而且对控制干扰噪声和测量噪声也起到了较好的抑制作用.
[关键词] 无人机；三轴云台；自适应控制；模糊PID；模糊规则；自适应卡尔曼滤波
Fuzzy-PID Control for UAV Three-axis Stable Pan-tilt
GUO Bing-kun,CHEN Shui-li,WU Yun-dong,LI Wei (School of Science,Jimei University,Xiamen 361021,China)
Abstract:With its research focus on the inner frame of UAV three-axis stable pan-tilt,combining the adaptive Kalman filter algorithm and the fuzzy PID control algorithm,the fuzzy PID control algorithm based on adaptive Kalman filter was
presented.Through the simulation using Matlab,the results show that this algorithm have an more advantage than the classical PID control algorithm and fuzzy PID control algorithm in UAV three-axis stable pan-tilt.It has fast response and high precision.The system also has a good inhibitory effect on control interference noise and measure noise.
Key words:UAV；three-axis pan-tilt；self-adaptive control；fuzzy-PID；fuzzy rule；Adaptive Kalman filter
无人机三轴稳定云台的模糊PID控制
