摘要
PID控制器在四旋翼飞行控制系统中比较常见,其核心问题之一就是PID参数的整定。常见的调参方法有模糊控制、神经网络及手动调参。针对四旋翼飞行器的PID控制器参数整定困难,提出一种基于混沌粒子群算法的PID参数整定方法:首先,利用粒子群算法的收敛速度较快及混沌序列的遍历性、随机性以及对初值的敏感性等特性,使得调节PID参数更加快速和准确;然后,结合自适应惯性权重法,平衡粒子群算法的全局搜索能力和局部搜索能力,在每次迭代过程中,粒子都可以根据各自情况在搜索空间的每个维度上选择合适的惯性权重。仿真实验结果表明,所提混沌粒子群优化算法能够快速、准确地求解所需参数,验证了所提算法的有效性。
PID controllers are relatively common in quad-rotor flight control systems and one of its essential problems is the tuning and implementation of parameters.Common parameter tuning methods include fuzzy control neural network and manual parameter tuning.Aiming at the difficulty of PID controller parameter tuning for quad-rotor aircraft this paper proposes a PID parameter tuning method based on chaotic Particle Swarm Optimization(PSO).First the fast convergence speed of PSO and the ergodic and random properties of chaotic sequence as well as its sensitivity to initial values are used to adjust PID parameters more quickly and accurately.In addition combined with the adaptive inertia weight method the global search ability and local search ability of the PSO are balanced.In each iteration process the particles can choose the appropriate inertia weight in each dimension of the search space according to their own situation.The results of simulation experiments show that the chaotic PSO proposed here can quickly and accurately solve the required parameters which verifies the effectiveness of the algorithm.
作者
张智轩
李涛
伍鹏飞
赵宏生
ZHANG Zhixuan;LI Tao;WU Pengfei;ZHAO Hongsheng(School of Automation,Nanjing University of Information Science and Technology,Nanjing 210000,China)
出处
《电光与控制》
CSCD
北大核心
2022年第3期16-20,共5页
Electronics Optics & Control
基金
国家自然科学基金(61973168)
江苏省“333工程”项目(BRA2020067)。
关键词
四旋翼无人机
粒子群算法
参数整定
混沌序列
quad-rotor aircraft
Particle Swarm Optimization(PSO)
parameter tuning
chaotic sequence
