下载后可任意编辑 无人机技术论文摘要本文以某型固定翼无人机为讨论对象，主要讨论了基于常规 PID 和智能 PID 的无人机飞行控制律的设计问题，首先，建立了无人机的六自由度数学模型，并运用小扰动线性化方法和系数冻结法分别建立了无人机纵向与横侧向系统的线性化方程:其次，介绍了一些常用的PID 控制器参数整定法和智能 PID 控制的基本思想，作为飞行控制律设计的理论基础:再次，分别采纳常规 PID 和智能 PID 进行了纵向系统与横侧向系统控制的设计，并针对不同空域的一些典型的状态点进行了大量的仿真讨论。仿真结果表明，我们所设计的常规 PID 控多数情况下能满足要求，智能 PID 控制器则具备更强的鲁棒性，能适应不同空域中更多的状态点。关键词:无人机，常规 PID（自动控制），智能 PID（自动控制），飞行控制律，无人机飞控系统的仿真讨论ABSTRACTThe primary purpose of this the conventional PID control and intelligent PIDcontrol strategies to the design of the UAV’s(Unmanned Aerial Vehicle)fight control law.First of all，the UAV’5six 一 degrees 一 of-freedom(6 一 DOF)math linearized.Then some basis the ores and the physiques about conventional PID control andintelligent PID control are mentioned followed by a Profound research on the controlsemen of the log attitudinal land lateral control system of the UAV.conventional PID andintelligent PID control strategists competitively plied to the design of the flight controllaw of the UAV’5fourfundamentalflighteontrolmode，in eluding Pithing angle controlmode，altitude holding mode，roll in gangle control mode and yaw angle control mode.Finally，an amount of simulation 15 designed to validate effectiveness of the flight。o 一 troll law based on conventional PID and intelligent PID control strategies.The results of the simulation show that the conventional PID flight control law effective，and the intelligent PIDflight control law superior to the forme rone.Keywords: UAV , The conventional PID，Intelligent P...
