四旋翼無人機之模糊PID控制器設計與實現

Abstract

本論文設計了一套四旋翼飛行器系統，利用串級模糊 PID (Proportional–Integral–Derivative)控制器，來完成俯仰角(Pitch)、翻滾角(Roll)、偏航角(Yaw)與高度(altitude)的定位控制。並在文中探討各項因素對飛行器整體所造成的影響。一般商業四旋翼飛行器所採用的控制器常使用串級PID控制器，其優點就是面對飛行器這種複雜的非線性系統，不需要透過建立精確數學模型，依然能有效控制。但定值的PID參數在面對各種突發情況下，並非是當下最合適的值。為了能在不同的情況下，提供適當PID增益參數，因此導入模糊理論至PID控制器，形成串級式模糊 PID控制器。透過不同控制器間的相互比較來證實此方法的可行性，並會對各增益參數與模糊規則進行探討。最後，透過許多實驗設計，來測試本論文所提四旋翼飛行器的性能。

In this study, a set of quadcopter system is designed. The cascade fuzzy PID controller is used to control the attitude and altitude of the quadcopter. Moreover, various factors that will influence the quadcopter are discussed. The cascade PID controller is adopted to control the quadcopter in most commercial cases. The advantage of the cascade PID controller is that it can work well under a complex nonlinear system without establishing an accurate mathematical model. However, the fixed PID parameter values may not be the most suitable ones in various situations. By introducing the fuzzy theory to the original cascade PID controller, the fuzzy cascade PID controller can change the gain parameters under different cases.The feasibility of the fuzzy cascade PID controller is verified through the comparison of experiments with different controllers. Furthermore, the performance of the proposed quadcopter is evaluated by experimental design.