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《Electronics Optics & Control》 2013-10
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Application of Improved PSO in PID Parameter Optimization of Quadrotor Aircrafts

WANG Hongjun;QI Xiaohui;JIA Yunhui;Department of UAV,Ordnance Engineering College;No. 65128 Unit of PLA;  
Manual optimization of PID control parameter for the quadrotor aircraft is time-consuming,and it is difficult to achieve good control effect. In order to solve the problem of control parameter optimization,the strategy of PID parameter optimization of Particle Swarm Optimization( PSO) with cross factor is proposed.This strategy integrates the characteristic of PSO cross factor,which can quickly and accurately find out the optimal parameters,with PID control. During control process,the PID parameters are regarded as particles of particle swarm. The genetic algorithm is used for selecting,quality ensuring and crossing of the particles. The standard of ITAE is the performance index of error. PSO is used to adjust the PID parameters,and the optimal particles are taken as the PID parameters of the quadrotor aircraft. The simulation results show that the strategy has better flexibility,adaptability and robustness than that of the traditional PID control,and can improve the accuracy of the control system.
【CateGory Index】: V249.1
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