Research On Fuzzy PID Attitude Control Of Multi-rotor UAV

The application of multi-rotor unmanned aerial vehicle(UAV)is becoming more and more extensive.The multi-rotor UAV for industrial applications have a high level of requirements for flight control due to the high standards of industry tasks.Multi-rotor UAV because of its static and unstable unique way of flying,once a crash happens without landing measures,the loss is great.The reliability and stability of the control system requirements are getting higher and higher.In recent years,some manufacturers improve the reliability of UAV by increasing the number of redundant systems.For some of multi-rotor UAV used by military in a harsh environment,redundancy system has a very good effect on the stability of the electronic components and control links,but it is not very suitable for extreme conditions such as blade shedding,motor damage and so on in harsh environments.The author hopes to improve the applicability of multi-rotor UAV by enhancing the robustness of its control system under the condition of strong interference and power loss.The classical PID control is commonly used in multi-rotor UAV.The advantages and disadvantages of classical PID and fuzzy control are compared in this paper.A suitable fuzzy control method is used to establish the fuzzy PID controller to realize the online self-tuning of PID parameters.The adaptive performance of the control system is realized.The control method is applied to the attitude control of multi-rotor UAV.A simulation platform is built to compare the control effect of traditional PID and fuzzy PID by using the Simulink tool of Matlab.The attitude control system based on six rotors UAV is established,and the simulation comparison of these two control modes is made for the horizontal attitude control of the six rotors UAV.And the rapid stabilization of the two control modes in power loss mode is simulated.Compared with the classical PID controller,the fuzzy PID controller improves the control precision and the anti-jamming ability.When the multi-rotor UAV power loss,the fuzzy PID controller still has excellent control effect,stable stability,robustness and speed.But there is steady-state error.According to the analysis,this paperproposed an improved control scheme.However,the control scheme requires additional hardware and it increases the weight of the UAV.