Research On Control Scheme Of The3DOF4Rotors Hover

The3DOF hover model is provided by the Canadian Company Quanser. Because of its high practical value, more and more research communities have shown a great interest in the quad rotor recently, and experimental model of control can be completed in the laboratory to conduct research control law.The3DOF hover is a multi-input and multi-output complex model which has the characteristic of high-order instability, multi-variable, non-linearity and coupling, in which an effective control method should be adpoted to obtain a good control effect.In this thesis, for a series of problems in the control of the3DOF hover model, a fuzzy predictive PID controller based on variable universe is designed. Major jobs are listed as follows:First of all, components and working principle of the3DOF hover model system are introduced. With dynamic analysis of the3DOF hover model system, mathematical model is established, based on which a state equation is built, and then relarted properties of the model is analyzed.Secondly, combining the traditional PID control algorithm with the fuzzy control theory, the fuzzy PID adaptive controller is designed. Compared to the effect of the traditional PID control, it can be seen that the performance of the system is improved under the control of the fuzzy PID adaptive controller.Thirdly, on the base of above knowledge, combining the thought of fuzzy control based on variable universe with the predictive control theory, the fuzzy predictive PID controller based on variable universe is designed finally. Compared with the simulation results of PID control, fuzzy PID control and fuzzy predictive PID control respectively, it shows that the final control algorithm which could make the system performance improve a lot, is the best of the above four ones.Fourthly, with the three strategies of PID, fuzzy PID and fuzzy predictive PID control based on variable universe, the model’s actual simulation is done, it shows that the fuzzy predictive PID control based on variable universe strategy applied to the model has a good actual control effect.Finally, the writer summarizes the whole research work as well as the prospect of the project, and points out some features that needs to be improved.