無人飛機縱向模糊控制PID自動駕駛之設計與模擬

Base on Fuzzy PID to Design and Simulate the UAV Longitudinal Autopilot Flight Control System

王俊筆(Chun-Bi Wang) ； 歐陽讓(Jim Ouyang)

《中華技術學院學報》 39期 (2008/12) Pp. 53-67

https://doi.org/10.7095/JCIT.200812.0053

摘要

近年來由於科技的發展快速與創新不斷，使得無人飛行載具的發展空間更加寬闊，本文依據Fuzzy PID理論，並藉由MATLAB/SIMULINK建立圖形化介面的模擬模組，完成了無人飛機縱向飛行模式控制系統之設計與模擬。且加入隨機雜訊以進行強健性穩定分析，同時依據模糊規則中誤差與誤差的變化自動修正控制核心間的規則庫以符合預設之需求規格來達到自適應控制的目的。接著與單獨的PID控制器做比較，證實Fuzzy PID控制器可獲得較優之飛行模擬結果。最後將無人飛機縱向模擬控制系統Fuzzy PID控制器模組與Flight Gear模擬飛行器軟體連結，藉由Flight Gear優異的視效系統來展示本計畫無人飛機縱向即時動態響應之模擬飛行過程。

關鍵字

Fuzzy PID控制 ； Flight Gear ； 無人飛行載具 ； MATLAB/SIMULINK ； 自適應控制

並列摘要

Because the technical development fast was in recent years unceasing with the innovation, caused Unmanned Aerial Vehicle (UAV) development opportunities to become broader. This project based on Fuzzy PID theory by using MATLAB/SIMULINK Graphical User Interface (GUI) tool box to design and simulate of the UAV longitudinal flight control system has been completed. We used the random noise to carry on the robust stability analysis. Also in accordance with the fuzzy rule error and error's change automatic revision control core regular to conform the specification demand to achieve the adaptive control goal. The Fuzzy PID controller obtains the better flight simulation results by compare with the stand alone PID controller. Finally we link the Fuzzy PID controller with the Flight Gear simulator by using the Flight Gear's Outstanding visual system to demonstrate the UAV real time longitudinal flight dynamic motion.

並列關鍵字

Fuzzy PID Control ； Flight Gear ； UAV ； MATLAB ； self-adaptation