模糊自整定PID控制在三自由度直升机实验系统中的应用

Fuzzy Self-tuning PID Controller in the 3-DOF Helicopter Experimental System

摘要: 针对三自由度直升机的飞行高度和飞行速度的跟踪控制，设计了模糊自整定PID控制器．介绍了三自由度实验系统的组成及其数学模型．设计了基于LQR的常规PID控制器和基于模糊控制理论的模糊自整定PID控制器．应用2种方法对直升机的飞行高度和飞行速度进行实时控制．实验结果表明，模糊自整定PID控制有更快的响应速度，更好的稳定性和鲁棒性．

Abstract: A fuzzy self-tuning PID controller is designed for the 3 degree of freedom(3-DOF) helicopter,in order to control the flight altitude and flight speed of the system.The composition and mathematical model of the 3-DOF helicopter experimental system are introduced.The conventional PID controller based on LQR(linear quadratic regulator) and the fuzzy self-tuning PID controller based on fuzzy control theory are designed.Two methods are applied to controlling the flight altitude and flight speed of the helicopter in real-time.The experimental results show that the fuzzy self-tuning PID controller offers higher response speed,better stability and better robustness.