Research On Auto-coupling PID Control Method Of UAV

Unmanned Aerial Vehicle(UAV)is not only a nonlinear,non-affine,fast time-varying uncertain MIMO(Multiple-Input Multiple-Output,MIMO)system,but also a type of strong coupling with limited input system.Therefore,the existing various control methods are difficult to achieve the expected control effect.Aiming at the control problems of such complex MIMO systems,this paper studies an auto-coupled PID(AC-PID)control method.For a class of large UAVs and quadrotors,the speed factor setting rules are designed.The main content of this paper is The research work is as follows:1)The unknown internal dynamics and external uncertainties are defined as the total disturbance,so that the unknown MIMO nonlinear system of the UAV system is mapped to the unknown MIMO linear system,and the linearity and nonlinearity,coupling and uncoupling,affine and System classification concepts such as non-affine,time-varying,and time-invariant;2)For a class of large unmanned aerial vehicles and quadrotors,the speed factor setting rules are designed respectively,and the auto-coupling PI and auto-coupling PD controllers are designed according to the theory of auto-coupling PID control,and the closed-loop control system is established.Robust stability and robustness against total disturbances of auto-coupling PI and auto-coupling PD control systems;3)When using an auto-coupling PI controller,in order to avoid the overshoot and oscillation of the control system due to integral saturation in the initial stage of the dynamic response,an adaptive speed factor model that changes with the error rate of change is designed to eliminate overshoot and oscillation.,Solve the contradiction between system rapidity and overshoot.4)In order to verify the effectiveness of the research method in this paper,a class of large-scale UAV and quadrotor UAV are selected,and the auto-coupling PI control algorithm and auto-coupling PD algorithm are used to simulate them on the MATLAB experimental platform.The simulation results show To demonstrate the effectiveness of the control method in this paper,compared with the existing control theory method,the auto-coupling PID control theory method not only has fast response speed,high steady-state accuracy,and strong anti-disturbance ability,but also has a simple controller structure with only one The speed factor needs to be stabilized for practical application.The main innovations of this article are as follows:1)By introducing the concept of total disturbance,the essential difference between arbitrary nonlinear system and linear system control is downplayed;2)According to the self-coupling PID control theory,the control theory method of nonlinear system and linear system is unified;3)The PID tuning rule based on the speed factor is established,which effectively solves the problems of poor PID gain robustness and poor anti-disturbance robustness.