多旋翼无人机自主精准降落的控制系统研究

doi:10.12052/gdutxb.190102

Abstract

Abstract: In view of the problem of positional oscillation and speed overshoot in the position control mode of multi-rotor UAV landing, the speed control method is adopted to land and a complete closed-loop speed control system constructed for precise landing. Firstly, the overall framework of UAV precise landing speed control system is established; secondly, the coordinate system of UAV landing and the transformation between coordinate systems are constructed; then, the outer-loop speed PID(Proportion-Integral-Derivative) control system and the fuzzy adaptive speed PID control system are designed; and finally, the performance tests and comparative experiments of the two control systems are carried out. The results show that the UAV can successfully land on the ground target under these two control systems, and the fuzzy adaptive speed PID control system has a higher landing accuracy, which is less than 0.13 meters. It can be seen that the multi-rotor UAV has realized the autonomous precise landing by adopting the fuzzy adaptive speed PID control system.

Key words: multi-rotor UAV, fuzzy adaptive, PID control, closed-loop, precise landing

CLC Number:

V249.122

Zeng Zhen-hua, Zheng Hui-feng, Zhu Yu-Jie, Luo Zhi-Yong. A Research on Control System of Multi-rotor UAV Self-precision Landing[J].Journal of Guangdong University of Technology, 2020, 37(01): 87-94.

References

[1] 毕庆生. 基于Onboard SDK的无人机自主飞行控制技术研究[D]. 西安:西安石油大学, 2017.
[2] 杜军特, 李扬. 参数自整定模糊PID控制方法及其在漆包机中的应用[J]. 广东工业大学学报, 2014, 31(2):58-63
DU J T, LI Y. Parameter self-tuning fuzzy PID control method and its application in enamelling machine[J]. Journal of Guangdong University of Technology, 2014, 31(2):58-63
[3] ZHANG X, LIU C, LIU F. Attitude control of 3-DOF helicopter based on iterative learning Control[C]//Proceedings of the 10th World Congress on intelligent Control and Automation. Beijing:IEEE, 2012:128-132.
[4] WANG C L, CHEN Z Q, SUN Q L, et al. Design of PID and ADRC based quadrotor helicopter control system[C]//2016 Chinese Control and Decision Conference (CCDC). Yinchuan:IEEE, 2016:5860-5865.
[5] JIN C, ZHU M, SUN L, et al. Relative motion odeling and control for a quadrotor landing on an unmanned vessel[C]//AIAA Guidance, Navigation AIAA, and Control Conference. Grapevine, Texas:2017:1522.
[6] MOU Y, ZHANG Q, LIU S, et al. The flight control of micro quad-rotor UAV based on PID[C]//2016 31st Youth Academic Annual Conference of Chinese Association of Automation (YAC). Hubei:IEEE, 2016:353-356.
[7] YANG S, WANG. Z S. Quad-rotor UAV control method based on PID control law[C]//2017 International Conference on Computer Network, Electronic and Automation (ICCNEA). Xi'an:IEEE, 2017:418-421.
[8] 冯培晏. 四旋翼无人机建模与PID控制器设计[J]. 工业设计, 2018(6):135-137
FENG P Y. Modeling and PID controller design of four-rotor UAV[J]. Industrial Design, 2018(6):135-137
[9] 张舸, 伊国兴, 高翔. 基于视觉导航的旋翼无人机自主降落系统[J]. 传感器与微系统, 2018, 37(9):77-80
ZHANG G, YI G X, GAO X. Autonomous landing system of rotor UAV based on visual navigation[J]. Sensors and Microsystems, 2018, 37(9):77-80
[10] 张咪, 赵勇, 布树辉, 等. 基于阶层标识的无人机自主精准降落系统[J]. 航空学报, 2018, 39(10):213-221
ZHANG M, ZHAO Y, BU S H, et al. Autonomous precision landing system for UAV based on hierarchical identification[J]. Journal of Aeronautics, 2018, 39(10):213-221
[11] 贾配洋, 彭晓东, 周武根. 四旋翼无人机自主移动降落方法研究[J]. 计算机科学, 2017(S2):530-533
JIA P Y, PENG X D, ZHOU W G. Research on autonomous mobile landing method of four-rotor UAV[J]. Computer Science, 2017(S2):530-533
[12] 范江涛, 汪仁煌, 周武, 等. 基于数字图像处理技术的针式仪表读数识别[J]. 广东工业大学学报, 2007, 24(4):76-78
FAN J T, WANG R H, ZHOU W, et al. Recognition of needle meter reading based on digital image processing technology[J]. Journal of Guangdong University of Technology, 2007, 24(4):76-78
[13] 曹爽. 基于OTSU算法的图像阈值分割技术[D]. 太原:太原理工大学, 2018.
[14] 朱斌, 陈庆伟. 垂直/短距起降飞机的轨迹跟踪控制器设计[J]. 自动化学报, 2019, 45(6):1166-1176
ZHU B, CHEN Q W. Design of trajectory tracking controller for vertical/short range takeoff and landing aircraft[J]. Journal of Automation, 2019, 45(6):1166-1176
[15] 李一飞. 四旋翼飞行器中PID控制研究[J]. 技术与市场, 2016, 23(7):90-91
LI Y F. Research on PID control in quad-rotor aircraft[J]. Technology and Market, 2016, 23(7):90-91
[16] 黄良沛, 邹东升, 陈磊, 等. 一种模糊PID控制器的设计与仿真[J]. 机械工程师, 2018(11):7-9
HUANG L P, ZOU D S, CHEN L, et al. Design and simulation of a kind of fuzzy PID controller[J]. Mechanical Engineer, 2018(11):7-9

Metrics

Viewed

Full text

Abstract

Cited

Shared

Discussed

Comments

Recommended 0

No Suggested Reading articles found!

A Research on Control System of Multi-rotor UAV Self-precision Landing

HTML

PDF (PC)

Abstract

Cite this article

share this article

References

Related Articles 3

Metrics

Comments

Recommended 0

[1]	LI Ling-Yu, GUO Gui-Fa, XU Jin-Biao. Optimizing and Adjusting the Parameter of PID Based on Simulated Annealing Genetic Algorithms [J]. Journal of Guangdong University of Technology, 2010, 27(2): 80-83.
[2]	Liu Yang,Wang Qin-ruo . PID Parameters Tuning and Simulation Based on Internal Model Control [J]. Journal of Guangdong University of Technology, 2008, 25(1): 66-68.
[3]	HUI A-li~1,ZHENG Jian-ming~2,SUN Yu~1. A Closed-Loop PD-Type Iterative Learning Control Scheme for Nonlinear Systems and Its Convergence [J]. Journal of Guangdong University of Technology, 2006, 23(2): 42-47.