关键词: 三自由度直升机, 变论域模糊, 模糊PID控制, 实时控制

Abstract:  Fuzzy control is an effective method to solve the stability of 3-degree of freedom helicopter system, but when the fuzzy rules are determined, there is a problem of local optimization only for a certain working area, and the fuzzy controller can't guarantee the high-precision tracking of the system trajectory. The variable domain fuzzy PID controller is designed. By adjusting the domain through the expansion factor, it adjusts the domain on the basis of the initial fuzzy rules, increases the application scope of the rules, obtains higher control accuracy, achieves the self-adaptive effect, and realizes the global optimization of the system. The experiment shows that the variable domain fuzzy control can better suppress the steady-state error, improve the response speed and realize the stable operation of the system.

Key words:

3-DOF helicopter, variable domain fuzzy, fuzzy PID control, real-time control