摘要
对四旋翼飞行器进行平稳的自动控制具有重要的应用价值。四旋翼飞行器控制系统是一个多变量、非线性和强耦合的系统,响应性能差。利用传统算法进行四旋翼飞行器自动控制有控制精度低,动态响应慢等缺陷。为解决上述问题,提出一种改进遗传算法的四旋翼飞行器自动控制方法。首先建立四旋翼飞行器的控制模型,获得改进遗传算法的寻优目标函数,其次在遗传算法中对变异概率和交差概率进行改进,能够自动适应控制过程中参数的变化,并计算出每个个体的适应度,得到最优适应度的个体,最终可以得到最优的控制参数。实验结果表明,利用改进算法进行四旋翼飞行器自动控制,能够提高控制精度和响应速度。
Four rotor aircraft control system is a multivariable,nonlinear and strong coupling system. Traditional control algorithm for four rotor aircraft has low control precision and slow dynamic response. This paper presents a kind of automatic four rotor aircraft control method based on improved genetic algorithm. Firstly,four rotor aircraft control model is established,and the optimal target function is obtained by using improved genetic algorithm. Secondly,the mutation probability and crossover probability in the genetic algorithm are improved,which can automatically adapt to the changing parameters in the process of control,the fitness of each individual is calculated,and the best fitness of the individual is obtained. Finally,the optimal control parameters are obtained. Experimental results show that the improved algorithm can improve the control accuracy and response speed.
出处
《计算机仿真》
CSCD
北大核心
2015年第7期88-91,共4页
Computer Simulation
基金
河南省科技厅项目无线数据采集传输系统的设计与研究(132102210465)
关键词
改进遗传算法
四旋翼飞行器
飞行控制
Improved genetic algorithm
Four rotor aircraft
Flight control
