钟海鑫;丘森辉;罗晓曙;唐堂;杨力;赵帅;

• 1:广西师范大学电子工程学院

摘要(Abstract)：

针对传统PID控制不能实时更新整定的K_p、K_i、K_d参数,以及控制精度不高等缺点,在结合四旋翼无人机自身特性的基础上,本文提出一种附加惯性项的BP神经网络与PID控制结合的姿态控制方法,并对惯性系数进行修改,来实现无人机在受干扰情况下飞行过程的姿态控制。仿真实验分析表明:与BP神经网络参数自整定PID控制和传统PID控制相比,该控制方法提高了系统的抗扰性、鲁棒性和动态性能,从而对于提高无人机的姿态控制具有较好的实际参考价值。

关键词(KeyWords)： PID控制;BP神经网络;参数自整定;抗扰性;鲁棒性

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金(11262004);; 广西多源信息挖掘与安全重点实验室开放基金(MIMS15-06);; 广西信息科学实验中心基金(KA1430);; 广西研究生教育创新计划项目(XYCSZ2017051)

作者(Authors): 钟海鑫;丘森辉;罗晓曙;唐堂;杨力;赵帅;

DOI: 10.16088/j.issn.1001-6600.2017.02.004

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