Research On Fuzzy PID Attitude Control Of Quadrotor UAV

Quadrotor has the advantages of flexible control and high safety performance.It can achieve hovering,rolling and flying at any angle.It often replaces people in dangerous work at high altitude,which has brought us a lot of convenience in life and work.In this paper,the present status of attitude control of Quadrotor is studied,and a cascade fuzzy PID control model is established based on the flight environment and control characteristics of Quadrotor,the attitude that control algorithm is verified.The Quadrotor is a multivariable,underactuated,strongly coupled nonlinear control system,and a control method cannot meet the control requirements of the Quadrotor.Usually,multiple control methods are combined to compensate each other for the Quadrotor.Insufficient,as far as possible,the Quadrotor has a certain improvement in stability,accuracy and anti-interference ability.For the difficulty of setting the classical PID control parameters,the parameters can not be adaptively changed and the external rotor is vulnerable to external environment,the cascade control and the PID controller are combined to form the most commonly used cascade PID in the Quadrotor attitude control.The control method is used to control the Quadrotor,and then the fuzzy control and the cascade PID control are combined to build an improved cascade fuzzy adaptive PID control model.The method is based on fuzzy mathematics.By establishing the mathematical model of the Quadrotor control system,the Quadrotor attitude calculation is used to design the cascade fuzzy PID controller based on the classic PID control and the cascade angle-angular speed control.Self-correction and online adjustment of rotor PID control system parameters.In order to determine whether the control method is feasible,Simulink software simulation and experiment are carried out on the stability,responsiveness and anti-interference ability of the quadrotor under the classical PID control mode,the cascade PID control mode and the cascade fuzzy PID control mode.Through simulation,the three control methods have their own advantages and disadvantages.Under the comprehensive comparison of image and data,fuzzy PID control under cascade mediation is better than PID control and cascade PID control.The response time,stability,accuracy and anti-interference ability of the quadrotor control system have been improved.