Control fligth of a UAV type tricopter with fuzzy logic controller
Control fligth of a UAV type tricopter with fuzzy logic controller
复制标题
模糊逻辑控制器控制无人机三轴飞行器的飞行
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Svetlana Stykanyova
中科院分区：
文献类型：
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作者：
S. Jatsun;O. Emelyanova;A. M. Leon;Svetlana Stykanyova
研究了三旋翼无人机的运动规律，该无人机具有三个可控驱动器，螺旋桨均为旋转式。无人机配备后掠翼，使其能够提供空气动力学稳定性。在起飞和着陆期间，旋翼作为提升旋翼工作，并且当在水平面中移动时，它们作为牵引旋翼工作，通过转动旋转螺旋桨来改变旋转平面。为研究垂直升降飞机的基本飞行模态及其沿预定轨迹沿着运动的稳定性，提出了描述无人机空间运动的设计模型和数学模型，建立了描述三旋翼螺旋桨驱动机电系统中相互关联的电磁和机械过程的运动微分方程。用滚转角、俯仰角和偏航角的角速度来表示物体角速度在动坐标系轴上的投影，并求解了由此得到的非线性微分方程和运动学关系。用解析法求解了非线性微分方程组，并对垂直起落飞机的起飞（着陆）模态及其沿预定轨迹的沿着运动进行了数值模拟。提出了用模糊控制器控制三旋翼飞行器运动的方法，并对比例积分微分（PID）控制器和奇数控制器的控制系统进行了对比分析。已经发现，与PID控制器相比，模糊逻辑控制器的使用允许提供飞行器沿着预定路径的更好质量的沿着运动。
The article is devoted to the movement study of the unmanned aerial vehicle, type tricopter, with three controllable drives, all the propellers of which are rotary. The UAV is equipped with swept wings that allow it to provide aerodynamic stability. During take-off and landing the rotors work as lifting rotors, and while moving in the horizontal plane they work as the traction ones, shifting the plane of rotation by turning the rotary propellers. For the study of convertiplane basic flight modes and stability of its movement along a predetermined path the design and mathematical models that describe spatial motion of the UAV are proposed, the differential equations of motion that describe the interconnected electromagnetic and mechanical processes in tricopter propeller drives electromechanical system are formulated. The resulting nonlinear differential equations are solved together with the kinematic relations that express the body angular velocity projection on the axis of movable coordinate system using the angular velocities of roll ϕ pitch ψ and yaw θ angles. The solution of nonlinear differential equations is found analytically, the simulation of the convertiplane take-off (landing) modes and its movement along a predetermined path are accomplished numerically. The method of controlling the tricopter movements using fuzzy logic controller is offered, the control system comparative analysis using proportional-integral-differential (PID) and odd controllers is done. It is found out that the use of fuzzy logic controller allows providing the aerial vehicle movements of better quality along a predetermined path in comparison with the PID controller.