Research On The Lateral Lateral Fuzzy Adaptive PID Control Law Of The Fixed-wing UAV

With the rapid development of modern science and technology,the UAV has frequently appeared in the public.As one of the modern high-tech,the UAV has the advantages of low cost,high security,easy maintenance and many other advantages,and it has quickly occupied an irreplaceable position in civil and military fields.Flight control system is the most important part of the UAV,which greatly influences the quality of the whole UAV system and the flight quality.And the flight control algorithm is the soul of the UAV flight control system,which determines the flight performance of the UAV.Therefore,the research of the flight control system is great important significance.In this paper,a certain type of the UAV is as the research object.Aiming at the problem that the traditional control method is difficult to obtain the ideal control effect under the condition of strong nonlinearity and time-varying,a fixed-wing UAV with six degrees of freedom nonlinear mathematical model is established by the analysis of the force and torque of the UAV.After the mathematical model linearized by the linearization method of small disturbance theory,and the UAV lateral lateral linearization mathematical model can be obtained by decoupling.And on the basis of analying the basic structure of the UAV lateral lateral control channel,the UAV lateral lateral flight control law is designed by using the conventional PID control method.Then,in order to solve the drawback of the conventional PID control method,the UAV lateral lateral flight control law is designed by using the fuzzy adaptive PID control method.Furthermore,in order to simplify the selection of the inital domain of the fuzzy controller inputs and outputs and slove the contradiction between the number of the fuzzy rules and the control percision,a variable universe fuzzy adaptive PID controller is designed by using the variable universe theory,and the UAV lateral lateral flight control law is designed.The simuliation results show that the UAV lateral lateral flight control law designed based on the above three control methods can achieve the desired control performance.Compared with the conventional PID control method,system designed based on the fuzzy adaptive PID control method has better dynamic and static performance.And the variable universe fuzzy adaptive PID control method improved by the variable universe theory can make the system obtain better control performance than the former two methods.