一种无人机姿态智能PID控制研究

姿态控制是无人机自主飞行控制的基础，其控制律设计结果对无人机飞行特性的影响至关重要。它决定了无人机是否能够满足自主飞行要求。为了解决在整个飞行包线中都能获得好的控制效果．本文引入了仿人智能比例，积分和单神经元控制等智能控制方法，设计出了一种用于无人机姿态控制的智能PID控制器。控制品质主要表现为响应快、精度高、超调量小，能进行稳定的大范围调适，鲁棒性强。仿真研究表明，这种控制器算法简单．易于实现，且比常规P1D控制器具有更强的鲁棒性和自适应能力。

Study of an Intelligent PID Attitude Controller for UAV

The attitude control is the base of autonomic flight control for unmanned aerial vehicle (UAV). The control law is the most important part to the flight quality and it determines whether the UAV can fulfill the target of autonomic flight. For the aim of good control result in all the flight states. This paper introduces intelligent control methods based on humanized intelligent proportion, integral and single neural unit control. A new type of the intelligent PID controller for the attitude control of UAV is given. Simulational results show that the controller has characteristics of relative simple arithmetic, easy to implement stronger roubst and adaptive capacity over the normal PID controller.