《计算机应用研究》|Application Research of Computers

基于改进粒子群算法的四旋翼自抗扰控制器优化设计

ADRC controller optimization design based on improved PSO algorithm for quad-rotor

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作者 胡丹丹,张宇辰
机构 中国民航大学 机器人研究所,天津 300300
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文章编号 1001-3695(2019)06-034-1762-05
DOI 10.19734/j.issn.1001-3695.2018.01.0026
摘要 针对四旋翼飞行器自抗扰控制器参数较多、人工整定困难且难以得到最优控制效果的问题,提出一种基于改进粒子群算法的四旋翼自抗扰控制器优化方法。在设计了四旋翼飞行器的自抗扰控制器之后,将自抗扰控制器的参数作为粒子群中的粒子进行迭代寻优,同时在传统的粒子群算法基础上参考遗传算法,对适应值不好的粒子进行交叉保优,以提高粒子的多样性,加快寻优速度。仿真结果表明,对比人工整定参数的控制器,优化后的控制器超调更小、调节时间更快。该方法能够解决四旋翼飞行器自抗扰控制器人工参数整定困难的问题,且优化后的控制器具有更好的控制效果。
关键词 四旋翼飞行器; 自抗扰控制; 粒子群算法; 参数优化; 姿态控制
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本文URL http://www.arocmag.com/article/01-2019-06-034.html
英文标题 ADRC controller optimization design based on improved PSO algorithm for quad-rotor
作者英文名 Hu Dandan, Zhang Yuchen
机构英文名 Robotics Institute,Civil Aviation University of China,Tianjin 300300,China
英文摘要 In order to solve the problem that the parameters of quad-rotor aircraft ADRC controller are difficult to set, and it is hard to get the optimal control effect due to manual parameter tuning, this paper proposed a design method of adaptive disturbance rejection controller based on improved particle swarm optimization for quad-rotor. After designed the ADRC controller of quad-rotor, this method iteratively optimized the parameters of the controller as particles in the particle swarm. At the same time, based on the traditional particle swarm optimization and referring to genetic algorithm, it cross-guaranteed the particles with poor fitness value to improve the diversity of particles, and to speed up the search speed. The simulation results show that compare with the controller with manual tuning parameters, the optimized controller has less overshoot and faster adjusting time. This method can solve the difficulty of manual parameter setting of quad-rotor aircraft ADRC controller, and the optimized controller has better control performance.
英文关键词 quad-rotor aircraft; active disturbance rejection controller(ADRC); particle swarm optimization(PSO); parameter optimization; attitude control
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收稿日期 2018/1/17
修回日期 2018/2/28
页码 1762-1766
中图分类号 TP242
文献标志码 A