Research Of Fuzzy PID Control For Quad-rotors Based On Genetic Algorithm Optimizing The Rules

Nowadays,with the rapid development of the e-information technology and the altering of the people's demands,the quadrotor has already become the edging focus of the nations all over the world,involved in the civil,scientific research as well as the military.The quadrotor is a new type of aircraft featured with vertical takeoff and landing,free hovering,flight agility and etc,which is employed widely in aerial photography,resources exploration,and disaster relief.Despite its promising future,the characteristics of multiple input,multivariate,under-actuated,and strong coupling increase the difficulty of remaining the controlling preciseness,maintaining the high anti-inference,and keeping the robustness in various circumstances when the quadrotor is operated.As the application field of quadrotor is gradually expanded,people exert increasingly high standards for its performance and functionality,which is equivalent to more precise for controller's performance.And quadrotor is liable to be affected by the force of wind due to the weightlessness and low speed.Aiming at improve the anti-inter fence of the quadrotor,and cultivating the capability of learning and adjusting of the control algorithm,the thesis adopts the genetic algorithm and feedback data of the quadrotor to setting and optimizing the rules of the fuzzy controller.Additionally,the thesis conducts an analysis and modeling in the natural condition of changing characteristics of wind speed,which is considered as the environmental noise to assess the performance of control algorithm.Following are the main conclusions of the the thesis:(1)A complete model of quadrotor is set up in the Matlab/Simulink simulation environment by researching the "X" structure quadrotor and achieves the primary control by using the fuzzy PID(Proportion Integral Derivative)control algorithm.(2)A mathematical model of the wind speed is established in the Matlab/Simulink simulation environment to evaluate the changing of the wind,and thus to introduce a detection approach to the system that can be used as a technical method to test the control algorithm.(3)According to the characteristics of the fuzzy controller,the optimization algorithm of fuzzy rules is designed by using genetic algorithm,which can compare the feedback of the quadrotor and expectations to achieve the purpose of setting and optimizing the fuzzy rules.