Research On Fuzzy PID Control Algorithm Of Quadrotor And Circuit Design

Due to strong survivability,no casualties risk,ease of use and other advantages,UAV(Unmanned Aerial Vehicle)has been widely used in the military field and civilian areas.Quadrotor,as one kind of UAV,has been widely concerned and vigorously developed by various areas because of its small size,low cost,flexible,sinmple structure and other characteristics.One of the most important properties of a Quadrotor is the stability of the flight,and the smooth flight requires a stable control system.However,the control mode of the quadrotor is mostly based on traditional control method.The quadrotor,a nonlinear and strongly coupled system,by this control method is difficult to achieve the desired effect.Therefore the control method needs to be improved and further studied in order to improve its adaptability,stability and safety.In this paper,the improved control algorithm of quadrotor is researched and implemented in the view of the shor tcomings of the traditional control mode.Aiming at the complicated structural charateristics of the quadrotor and the shortcomings of the traditional PID control,we propose an improved fuzzy PID control algorithm to design the flight control system.Fuzzy PID control can adjust the proportion,integral and differential parameters online by self-learning to improve self-adaptive ability.The algorithm can solve some nonlinear problems and have good control effect on uncertain system.The control system receives the information of the control instruction and the feedback of the posture solution,and then runs the control algorithm to solve the control instructions of each rotor,rotor make the appropriate adjustments.According to the flight principle of the quadrotor,we establish the dynamic model of the UAV and design the overall scheme of the flight control system.The system includes position control and attitude control.According to the overall scheme,the PID controller is designed and simulated by matlab,and the performance of the PID controller is analyzed.Fuzzy PID controller is introduced for the defects and shortcomings.And the proportion of weighted,incomplete differential and anti-integral saturation module are added in the fuzzy PID controll er.The controller reduces the dependency on the exact model,improves the speed of system reponse and reduces the system overshoot.At the same time,the neural network training module is introduced,and then the anti-jamming simulation experiment is carried out,the simulation results show that the improved controller has better performance.After the reliability of the algorithm is verified by matlab,in the STM32 environment which has many advantages such as cost-effective and low power consumption for software implementation,and then transplanted to the circuit board for debugging and flight verification.And finally we design a control system with robust.In order to improve the control speed and the stability of the system,we design a control circuit based on FPGA.