Proceedings of the 6th World Congress on Intelligent Control

and Automation, June 21 - 23, 2006, Dalian, China

An Application of Fuzzy PID Algorithm on Unmanned

Helicopter Attitude Control
Xin Hou, Ping Li, Zhou Fang, Bo Han
National Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027
(E-mail: zju.xhou@gmail.com)
Abstract— the design of an attitude controller for an unmanned helicopter is addressed. The controller proposed is based on fuzzy
PID algorithm, and is used for stable and robust roll, pitch, and yaw control. The fuzzy logic rules are established through a
combination of expert knowledge and experiment data which is obtained from a real unmanned helicopter platform. Both the
simulation and the experimental results verify the validity of fuzzy PID algorithm which integrates the advantage of fuzzy control and
PID control.

Keywords— unmanned helicopter, attitude control, fuzzy PID

෎Ѣ῵㊞ PID ⱘ᮴ҎⳈछᴎ࿓ᗕ᥻ࠊᅲ⦄

փ䨿 ᴢᑇ ᮍ㟳 䶽⊶
⌭∳໻ᄺᎹϮ᥻ࠊᡔᴃ೑ᆊ䞡⚍ᅲ偠ᅸ ᵁᎲ 310027

ᨬ 㽕 ᴀ᭛ҟ㒡њ῵㊞ PID ㅫ⊩೼䍙ᇣൟ᮴ҎⳈछᴎ࿓ᗕ᥻ࠊϞⱘᅲ⦄ᮍ⊩DŽᔧⳈछᴎ࿓ᗕᬍব䕗໻ᯊˈᐌ㾘 PID ᥻ࠊ఼ⱘ࿓

ᗕ᥻ࠊᬜᵰӮ໻Ў䰡Ԣ˗㗠ᇍᅲ䰙亲㸠ᅲ偠᭄᥂ⱘ䕼䆚㒧ᵰҹঞϧᆊⶹ䆚䖯㸠㓐ড়ߚᵤ᠔ᕫࠄⱘⳈछᴎ࿓ᗕ῵㊞᥻ࠊ఼ˈৃҹ᳝ᬜᬍ
୘Ⳉछᴎ࿓ᗕব࣪䕗໻ᯊⱘ᥻ࠊᗻ㛑DŽ㒧ড়ᐌ㾘 PID ᥻ࠊ੠῵㊞᥻ࠊⱘӬ⚍ˈ᠔䆒䅵ߎⱘ῵㊞ PID ᥻ࠊ఼ˈ೼䍙ᇣൟ᮴ҎⳈछᴎⱘ࿓
ᗕ᥻ࠊϞপᕫњ㡃དⱘᑨ⫼ᬜᵰ˗䗮䖛ᇍᅲ偠㒧ᵰ䖯㸠ᇍ↨੠ߚᵤˈ䆕ᯢњ῵㊞ PID ㅫ⊩ⱘ᳝ᬜᗻDŽ

݇䬂䆡 ῵㊞ PIDˈ᮴ҎⳈछᴎˈ࿓ᗕ᥻ࠊ

1ˊᓩ㿔 छᴎ䴲㒓ᗻࡼ࡯῵ൟ೼ ‫ذ‬⢊ᗕϟⱘ䖥Ԑ㒓ᗻᮍ⿟DŽ೼ᅲ
᮴ҎⳈछᴎⱘ亲㸠᥻ࠊࣙᣀ䔼䗍᥻ࠊ੠࿓ᗕ᥻ࠊˈ㗠 䰙亲㸠Ёˈᔧ⦃๗ᑆᡄ䕗໻ᇐ㟈Ⳉछᴎ‫ذ ⾏أ‬⢊ᗕᯊˈ
䔼䗍᥻ࠊϔ㠀гᰃ䗮䖛࿓ᗕ᥻ࠊᴹᅲ⦄ⱘDŽ࿓ᗕ᥻ࠊᰃⳈ ⬅Ѣ PID ᥻ࠊㅫ⊩ϡ‫ݡ‬䗖ড়ব࣪њⱘࡼᗕ῵ൟˈ䗴៤᥻ࠊ
छᴎ亲㸠᥻ࠊ㋏㒳䆒䅵ⱘḌᖗ䯂乬ˈгᰃ᳔݇䬂ⱘ䯂乬DŽ ᬜᵰবᏂˈⳈछᴎⱘ␌䍄㣗ೈ䕗໻˗᠔ҹᐌ㾘 PID ᥻ࠊ᳝
Ԛᰃˈ⬅ѢⳈछᴎᰃϡ〇ᅮǃᯊবǃ䴲㒓ᗻǃ催䰊੠ᔎ㗺 ϔᅮⱘሔ䰤ᗻDŽ῵㊞᥻ࠊᰃϔ⾡䴲㒓ᗻ᥻ࠊᮍ⊩ˈ䙓ᓔњ
ড়ⱘ໮䕧ܹ໮䕧ߎ㋏㒳ˈᓎゟ݊ࡼ࡯ᄺ῵ൟ‫݋‬᳝Ⳍᔧⱘೄ ᇍⳈछᴎࡼ࡯ᄺᮍ⿟䖯㸠ᓎ῵ⱘ໡ᴖ䯂乬DŽᅗ䗮䖛ᇍ᮴Ҏ
䲒ˈ‫ࡴݡ‬ϞⳈछᴎⱘ亲㸠⡍ᗻг䱣ⴔ亲ᴎ῵ᗕⱘᬍব㗠ᬍ Ⳉछᴎ䘹᥻᪡԰ਬⱘ㒣偠䖯㸠ᘏ㒧ᴹ㦋প᥻ࠊ㾘߭ˈ䖯㗠
বˈ಴ℸা㛑߽⫼㋏㒳䕼䆚Ϣ᥻ࠊᕟ䞡ᵘⱘᮍ⊩㦋ᕫᶤϾ ߽⫼亲㸠ᅲ⌟ⱘ࿓ᗕ᭄᥂ᴹ䇗ᭈ῵㊞᥻ࠊ㾘߭੠খ᭄DŽ῵
῵ᗕϟϔᅮ㊒ᑺⱘࡼ࡯ᄺ῵ൟ˗䖭ᇐ㟈ᕜ໮↨䕗៤❳ⱘᐌ ㊞᥻ࠊབᵰ೼Ⳉछᴎࡼᗕব࣪䕗ᇣᯊ㛑໳䖯㸠ᖂ䇗䳔㽕䕗
㾘᥻ࠊㅫ⊩಴㔎ᇥ㊒⹂ⱘ῵ൟ㗠᮴⊩Փ⫼DŽৠᯊ䴲㒓ᗻ㋏ ໮ⱘ῵㊞㾘߭੠໡ᴖⱘ䲊ሲᑺߑ᭄ˈ䖭ḋ䅵ㅫⱘ໡ᴖᑺӮ
㒳᥻ࠊ㾘ᕟⱘ䆒䅵⧚䆎੠ᑨ⫼ᮍ䴶Ⳃࠡ䖬ϡᰃ໾៤❳[1]ˈ ໻໻๲ࡴDŽ
䖒ϡࠄ᮴ҎⳈछᴎ࿓ᗕ᥻ࠊⱘ㊒ᑺ੠♉ᬣᑺ㽕∖DŽ ᴀ᭛㒧ড়῵㊞᥻ࠊ੠ᐌ㾘 PID ᥻ࠊⱘӬ⚍ˈ䆒䅵њ῵
೼ᅲ䰙ᑨ⫼ЁˈߎѢᇍㅫ⊩ⱘৃ䴴ᗻ੠䅵ㅫ໡ᴖᑺㄝ ㊞ PID ᥻ࠊ఼˖೼Ⳉछᴎ亲㸠⢊ᗕ‫ذ ⾏أ‬⢊ᗕ䕗໻ˈे
ॳ಴ⱘ㗗㰥ˈ䍙ᇣൟ᮴ҎⳈछᴎⱘ࿓ᗕ᥻ࠊ㋏㒳໻໮䞛⫼ 亲㸠࿓ᗕⱘ㾦ᑺؐ‫ذ ⾏أ‬ᯊⱘؐ䕗໻ⱘᯊ‫఼ࠊ᥻ˈ׭‬ᣝ
㒣‫ ⱘ݌‬PID ㅫ⊩[2]DŽPID ᥻ࠊ఼ⱘ䆒䅵ϔ㠀ᰃ෎Ѣ᮴ҎⳈ ✻῵㊞㾘߭ѻ⫳䕗໻ⱘ᥻ࠊ԰⫼ᖿ䗳㑴‫⾏أ˗أ‬䕗ᇣᯊ࿓

1-4244-0332-4/06/$20.00 ©2006 IEEE

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ᗕ᥻ࠊ఼䕧ߎЎ PID ᥻ࠊㅫ⊩ⱘؐDŽ䗮䖛ӓⳳ੠ᅲ䰙亲㸠
ᅲ偠ⱘ↨䕗㸼ᯢ˖ᡞ῵㊞ PID ᥻ࠊㅫ⊩ᑨ⫼ࠄ䍙ᇣൟ᮴Ҏ
ⳈछᴎϞ㛑໳পᕫ↨ᐌ㾘 PID ᥻ࠊ੠㒃῵㊞᥻ࠊ᳈དⱘ࿓
ᗕ᥻ࠊᬜᵰDŽ
2ˊ᮴ҎⳈछᴎ῵ൟߚᵤ
ᅲ偠᠔⫼ⱘ᮴ҎⳈछᴎᰃ೼䍙ᇣൟᮟ㗐ⳈछᴎϞ
㺙໛њጠܹᓣ᥻ࠊ䅵ㅫᴎǃGPSǃᛃᗻ⌟䞣ऩ‫ܗ‬ǃ㔫Ⲭǃ
ᨘ‫ڣ‬ᴎҹঞ᮴㒓䗮ֵㄝ䆒໛DŽᅗⱘᮟ㞖ⳈᕘЎ 1.54 ㉇ˈ
‫݋‬᳝ԧ⿃ᇣǃ䱤㬑ᗻདǃᴎࡼ♉⌏ǃ䍋亲ⴔ䰚എഄᇣˈ
ৃ೼ぎЁ᳝䰤㣗ೈ‫ݙ‬԰ ‫ذ‬亲㸠ㄝ⡍⚍ˈ೼ଚϮ乚ඳ੠
‫ݯ‬џᑨ⫼ᮍ䴶䛑᳝Ⳍᔧᑓ⊯ⱘ⫼䗨DŽ᮴ҎⳈछᴎⱘᅲ偠
ᑇৄᰃ Raptor®60 ൟ䘹᥻ᮟ㗐Ⳉछᴎ˄೒ 1˅˗ᅗ᳝݁Ͼ㞾
⬅ᑺˈߚ߿Ў xˈyˈz ϝ㓈ぎ䯈ԡ㕂੠Ⳉछᴎ㒩ϝϾᮍ৥
ⱘ䕀ࡼ㾦ᑺ ĭˈĬˈȌDŽ࿓ᗕ᥻ࠊ఼䗮䖛ಯϾ᪡㒉䞣䖯㸠᥻
ࠊ˖ሒ㠉Ḽ㾦ǃ῾৥਼ᳳব䎱ǃ㒉৥਼ᳳব䎱ǃḼ㾦ᘏ䎱
੠⊍䮼ˈߚ߿᥻ࠊ㟾৥㾦 ψ ǃ῾⒮㾦 φ ǃ‫׃‬ӄ㾦 θ ҹঞ催
ᑺDŽᅗӀⱘব࣪㣗ೈᰃ˖㒉৥਼ᳳব䎱੠῾৥਼ᳳব䎱䛑
ᰃ ± 7$ ˈሒḼ䎱ⱘব䎱ᰃ ± 5$ DŽᘏ䎱ⱘব࣪㣗ೈᰃ 1 ̚ 18$ DŽ
Ⳉछᴎ῵ൟᰃϹ䞡㗺ড়ⱘ䴲㒓ᗻ㋏㒳ˈ‫݋‬᳝໡ᴖⱘࡼ
࡯ᄺ⡍ᕕ੠޴⾡ϡৠ⢊‫މ‬ϟⱘ亲㸠῵ᗕ[3]DŽϔ㠀ᇍⳈछᴎ
ⱘ䴲㒓ᗻࡼ࡯ᄺ῵ൟ[4]೼ ‫ذ‬⢊ᗕ៪㗙᜶䗳ࠡ亲⢊ᗕϟ䖯
㸠㒓ᗻ࣪ˈᕫࠄ䖥Ԑⱘ㒓ᗻ࣪῵ൟDŽ㒓ᗻ࣪Пৢⱘϔ䰊㒓
ᗻ᥻ࠊᮍ⿟Ў˖
⎧ X = AX + BU
⎨ (1)
⎩ Y=X
݊Ё˖
X τ = [ p x p y pz vx v y vz φ θ ψ ]
U = [δ c δ a δ l δ t ]  (3)
⢊ᗕব䞣 X ࣙᣀ῵ൟⳈछᴎⱘぎ䯈ԡ㕂 p x , p y , p z ˈ䖤ࡼ䗳
ᑺ v x , v y , v z ˈ῾⒮㾦 φ ˈ‫׃‬ӄ㾦 θ ˈ㟾৥㾦ψ ҹঞ㾦䗳ᑺ
೒ 1˖㒣䖛ᬍ䗴ⱘ䍙ᇣൟᅲ偠᮴ҎⳈछᴎ
p , q , r ㄝDŽ᥻ࠊব䞣 U 㸼⼎῵ൟⳈछᴎⱘ᥻ࠊ䕧ֵܹো˖
Ḽ㾦ᘏ䎱䕧ܹ δ c ǃ῾৥਼ᳳব䎱䕧ܹ δ a ǃ㒉৥਼ᳳব䎱䕧
ܹ δl ǃሒ㠉Ḽ㾦䕧ܹ δt DŽA Ў㋏᭄ⶽ䰉ˈB Ў᥻ࠊⶽ䰉ˈ
ᅗӀ䱣Ⳉछᴎ亲㸠῵ᗕǃ䞡䞣ҹঞᴎԧ㒧ᵘⱘϡৠ㗠ϡৠDŽ
3ˊ῵㊞ PID ࿓ᗕ᥻ࠊ఼ⱘ䆒䅵
3.1 ᥻ࠊॳ⧚ߚᵤ
߽⫼Ӵ㒳ⱘ᥻ࠊ఼䆒䅵ᮍ⊩ˈᕫࠄ᮴ҎⳈछᴎ೼ ‫ذ‬
⢊ᗕϟⱘ㒓ᗻ࣪῵ൟ˗䗮䖛 Matlab 䆒䅵᥻ࠊ఼খ᭄ˈḍ᥂
ӓⳳ㒧ᵰϡᮁ䇗ᭈˈᕫࠄড়⧚ⱘ PID ᥻ࠊ఼ⱘখ᭄DŽ
ḍ᥂ӓⳳ㒧ᵰ䆒䅵᥻ࠊ఼ˈᑨ⫼ࠄ᮴ҎⳈछᴎ᥻ࠊ㋏
㒳Ёˈḍ᥂޴⃵ᅲ䰙亲㸠ⱘ᭄᥂ϡᮁᖂ䇗 PID ᥻ࠊ఼ⱘখ
᭄ˈৃҹ䖒ࠄ೼䰉亢੠ഄ䴶ᑆᡄ↨䕗ᇣⱘᚙ‫މ‬ϟֱᣕ㡃ད
ⱘ ‫ذ‬ᬜᵰDŽ೼Ⳉछᴎ࿓ᗕ㾦‫⾏أ‬ᑇ㸵⢊ᗕ䕗ᇣԡ㕂ᯊˈ
䩜ᇍᖂᇣⱘ䰉亢ᑆᡄˈPID ᥻ࠊ఼ৃҹ䖙䗳ⱘᇚ᮴ҎⳈछ
ᴎⱘ῾⒮㾦੠‫׃‬ӄ㾦㑴ℷࠄᑇ㸵ԡ㕂ˈֱᣕⳈछᴎⱘ ‫ذ‬
⢊ᗕDŽᔧ䰉亢ᑆᡄ䕗໻ᯊˈⳈछᴎ‫⿟ⱘ⾏أ‬ᑺડᑨӮ䕗໻ˈ
ℸᯊⳈछᴎⱘࡼ࡯ᄺ῵ൟ੠೼ ‫ذ‬⢊ᗕϟ䴶㒓ᗻ࣪ѻ⫳ⱘ
῵ൟߎ⦄њ↨䕗໻ⱘ䇃Ꮒˈ᠔ҹ PID ᥻ࠊ఼ⱘ᥻ࠊᬜᵰӮ
↨䕗ᏂDŽᅲ䰙㸼⦄Ў˖᥻ࠊ఼ⱘ῾৥਼ᳳব䎱੠㒉৥਼ᳳ
ব䎱ϡ໳໻ˈ䗴៤Ⳉछᴎⱘ῾৥੠㒉৥԰⫼࡯ⱘ༅㸵ˈᇐ
㟈њⳈछᴎⱘഴ↕DŽ಴ℸˈऩ㒃ⱘ PID ᥻ࠊϡ㛑䖒ࠄⳈछ
ᴎ࿓ᗕ᥻ࠊⱘⳂᷛˈᖙ乏㒧ড়݊Ҫㅫ⊩DŽ
䆒䅵῵㊞᥻ࠊ఼ϡ䳔㽕ⶹ䘧᥻ࠊᇍ䈵ⱘ㊒⹂᭄ᄺ῵
ൟˈϨ᥻ࠊ఼‫݋‬᳝ᕜᔎⱘ剕Ầᗻˈ᠔ҹᅗ೼䴲㒓ᗻ㋏㒳Ё
ⱘᑨ⫼ᕜᑓ⊯DŽᇍѢ䍙ᇣൟ᮴ҎⳈछᴎ䖭⾡䴲㒓ᗻᔎˈ໮
ব䞣㗺ড়ⱘ㋏㒳ᴹ䇈ˈ߽⫼ϧᆊⶹ䆚੠㒣偠᭄᥂⫳៤῵㊞
䘏䕥ᴹ䖯㸠࿓ᗕ᥻ࠊᰃ↨䕗ড়䗖ⱘDŽᴀ᭛㒧ড়ϸ⾡᥻ࠊᮍ
⊩ⱘӬ࢓ˈ䆒䅵ߎϔ⾡῵㊞ PID ⱘ᥻ࠊᮍ⊩DŽ䖭⾡᥻ࠊ఼
(2)
ⱘ⡍⚍ᰃ˖೼᥻ࠊ䞣‫أ‬Ꮒ䕗໻ᯊ߽⫼῵㊞᥼⧚ⱘᮍ⊩䇗ᭈ
㋏㒳ⱘ᥻ࠊ䞣 Uˈ㗠೼‫أ‬Ꮒ䕗ᇣˈे೼Ⳉछᴎ᥹䖥 ‫ذ‬⢊
ᗕᯊ䕀ᤶ៤ᐌ㾘ⱘ PID ᥻ࠊˈϸ㗙ⱘߛᤶḍ᥂џ‫ܜ‬㒭ᅮⱘ
‫أ‬Ꮒ䯜ؐ㞾ࡼᅲ⦄DŽ
೼᮴ҎⳈछᴎⱘ῾⒮㾦 φ ˈ‫׃‬ӄ㾦 θ ˈ㟾৥㾦ψ ϝϾ
䗮䘧Ϟ䆒䅵⣀ゟⱘ῵㊞ PID ᥻ࠊ఼ˈᴹֱᣕ᮴ҎⳈछᴎ೼
῾৥ǃ㒉৥ҹঞ‫أ‬㟾ᮍ৥Ϟⱘ〇ᅮˈ᳔㒜ᅲ⦄Ⳉछᴎⱘ࿓
ᗕ᥻ࠊDŽϟ᭛ҹ‫׃‬ӄ㾦 θ 䗮䘧Ў՟ᴹ䆺㒚䆒䅵䍙ᇣൟ᮴Ҏ
Ⳉछᴎ῵㊞ PID ࿓ᗕ᥻ࠊ఼ᅲ⦄䖛⿟DŽ
‫׃‬ӄ㾦 θ 䗮䘧ⱘ῵㊞ PID ࿓ᗕ᥻ࠊ఼㒧ᵘབ೒ 2 ᠔⼎DŽ
݊Ё θ r ᰃ㋏㒳ᳳᳯⱘ‫׃‬ӄ㾦ˈ θ Ў㋏㒳ᅲ䰙䕧ߎⱘ‫׃‬ӄ㾦
ᑺؐDŽ῵㊞᥻ࠊ఼ⱘϸϾ䕧ܹߚ߿ᰃ‫׃‬ӄ㾦‫⾏أ‬ᑇ㸵⢊ᗕ
ⱘ‫أ‬Ꮒ e ҹঞ‫أ‬Ꮒⱘব࣪⥛ e ˗ḍ᥂乘‫ܜ‬䆒ᅮⱘ‫أ‬Ꮒ䯜ؐᴹ
߸ᮁᮑࡴࠄ᮴ҎⳈछᴎⱘ᥻ࠊֵোᰃᴹ㞾῵㊞᥻ࠊ఼䖬ᰃ
PID ᥻ࠊ఼DŽ
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 ҙ䗮䖛ϧᆊⶹ䆚ᴹᓎゟⱘ῵㊞㾘߭ᑧ᳝ϔᅮⱘሔ䰤ᗻˈᔧ
῵㊞ব䞣ⱘ῵㊞ᄤ䲚䆎ඳЁⱘ‫ܗ‬㋴Ͼ᭄䕗໮ᯊˈ᥻ࠊ㾘߭
ⱘ᭄Ⳃг៤ᣛ᭄๲ࡴˈℸᯊ⫼ϧᆊⶹ䆚ᴹᵘᓎ῵㊞㾘߭䲚
↨䕗໡ᴖϨᆍᯧ䗴៤䕗໻ⱘ䇃ᏂDŽ಴ℸˈ೼ϧᆊ㾘߭ⱘ෎
⸔Ϟˈ䗮䖛ᇍᅲ偠᭄᥂ᇍ䖯㸠㒳䅵ᘏ㒧ߎড়䗖ⱘ᥻ࠊㄪ⬹ˈ
᳔㒜ᔶ៤ᅠᭈⱘ῵㊞㾘߭ᑧDŽ
㒣偠Єᆠⱘ᪡԰ਬ䗮䖛䘹᥻ᴹՓ᮴ҎⳈछᴎᅲ⦄ 
೒ 2˖‫׃‬ӄ㾦῵㊞ PID ᥻ࠊ㒧ᵘ೒ ‫ذ‬ǃࠡ亲ǃջ亲ㄝϡৠⱘ亲㸠࿓ᗕˈৠᯊ߽⫼ᴎ䕑Ӵᛳ఼
䆄ᔩϟᴹ⌟䞣ࠄⱘ‫׃‬ӄ㾦 θ ⱘ᭄ؐˈҹঞℸᯊ䘹᥻఼೼ℸ
3.2 ῵㊞᥻ࠊ㾘߭ⱘ⫳៤ 䗮䘧Ϟ᠔ᮑࡴⱘ㒉৥਼ᳳব䎱䕧ֵܹো δl ⱘ᭄ؐDŽ䗮䖛ㅔ
‫׃‬ӄ㾦῵㊞᥻ࠊ఼ⱘ䕧ܹЎ‫׃‬ӄ㾦ᳳᳯؐϢᅲ䰙⌟䞣 ऩⱘ䅵ㅫᕫࠄ‫׃‬ӄ㾦䇃Ꮒ e p ҹঞ‫׃‬ӄ㾦䇃Ꮒⱘব࣪⥛ e p
ؐⱘ䇃Ꮒ੠䇃Ꮒⱘব࣪⥛ˈ䕧ߎЎ㒉৥਼ᳳব䎱DŽ೼䕧ܹ ⱘ᭄᥂DŽ᪡԰ਬ㽕▔থ᮴ҎⳈछᴎሑৃ㛑໮ⱘ῵ᗕˈ‫ࡴݡ‬
䕧ߎ䆎ඳϞߦߚ῵㊞ऎ䯈ˈ䆎ඳ໻ᇣߚ߿Ў˖‫׃‬ӄ㾦䇃Ꮒ Ϟ䎇໳䭓ⱘ亲㸠ᯊ䯈ˈ෎ᴀϞৃҹՓᅲ偠᭄᥂ᇍ䞠䴶ࣙ৿
e p Ў − 20 ~ 20$ ˈ‫׃‬ӄ㾦䇃Ꮒⱘব࣪⥛ e p Ў − 20 ~ 20$ / s ˈ 䎇໳໮ⱘֵᙃDŽ䗮䖛ᇍᅲ偠᭄᥂ᇍ (e p (i ), e p (i ),δ l (i )) ˄݊Ё
㒉৥਼ᳳব䎱Ў − 7 ~ 7 $ DŽ䲊ሲᑺߑ᭄䞛⫼催ᮃߚᏗˈ䲊ሲ i = 1, 2...n ˅䖯㸠㒳䅵ˈ∖ߎ݊೼৘㞾䆎ඳϞ᠔䲊ሲⱘ῵㊞
ᑺߑ᭄ᔶ⢊⼎ᛣ೒བ೒ 3 ᠔⼎DŽ ᄤ䲚ˈҢ㗠ѻ⫳ϔᴵᮄⱘ῵㊞㾘߭[9]DŽᔶᓣབϟ˖
䲊ሲᑺߑ᭄᳆㒓ᔶ⢊䕗ᇪⱘ῵㊞ᄤ䲚ߚ䕼⥛䕗催ˈ᥻ IF e p is NB and e p is NB THEN δ l is PB (4)
ࠊ♉ᬣᑺг催DŽ᳆㒓ᔶ⢊䕗㓧ˈ㋏㒳䖛⏵↨䕗ᑇ㓧ˈ㋏㒳
〇ᅮᗻད[5]DŽ಴ℸˈ೼䗝ᢽ῵㊞ব䞣ⱘ῵㊞䲚䲊ሲᑺߑ᭄ ಴Ў↣ϔᇍ᭄᥂䛑ѻ⫳ϔᴵ㾘߭ˈ໻䞣ⱘ᭄᥂ᇍህ᳝
ⱘᯊ‫ˈ׭‬೼䇃Ꮒ䕗໻ⱘऎඳ䗝⫼Ԣߚ䕼⥛ⱘ῵㊞䲚ˈ೼䇃 ৃ㛑Ӯѻ⫳ϔѯ㞾Ⳍ⶯Ⳓⱘ㾘߭˗㾷‫އ‬䖭Ͼ䯂乬ⱘࡲ⊩ϔ
Ꮒ䕗ᇣᯊ‫׭‬䞛⫼䕗催ߚ䕼⥛ⱘ῵㊞䲚DŽ ᰃ೼Ϟϔℹ䖯㸠㒳䅵᪡԰ⱘᯊ‫ࠨ׭‬䰸ᓖᐌⱘ᭄᥂ᇍˈѠᰃ
᥻ࠊㄪ⬹ৃҹ䗮䖛ϧᆊⶹ䆚Ⳉ㾖ⱘᓎゟDŽ䘹᥻Ⳉछᴎ 㒭ѻ⫳῵㊞㾘߭ⱘ↣ϔᇍ᭄᥂䌟ќϡৠⱘ㕂ֵᑺˈϔᮺߎ
᪡԰㗙ḍ᥂Ꮖ᳝ⱘ㒣偠੠ᡔᴃⶹ䆚ˈ䗮䖛ᇍ᮴ҎⳈछᴎⱘ ⦄㞾Ⳍ⶯Ⳓⱘ㾘߭ˈህ㞾ࡼ䗝⫼㕂ֵᑺ䕗催ⱘ㾘߭DŽ㟇ℸˈ
㾖⌟԰ߎ㓐ড়ߚᵤПৢ԰ߎ᥻ࠊ‫އ‬ㄪˈ䇗ᭈࡴࠄⳈछᴎⱘ ៥Ӏ㦋ᕫњ↨䕗ᅠ୘ⱘ῵㊞㾘߭ᑧDŽ
᥻ࠊ԰⫼ϞˈҢ㗠䖒ࠄ㋏㒳ⱘ乘ᳳⳂᷛDŽ߽⫼ϧᆊⶹ䆚ᴹ ߽⫼Ёᖗᑇഛ㾷῵㊞఼ᴹᅠ៤῵㊞䞣ࠄ⹂ᅮ䞣ⱘ䕀
࣪DŽ䕧ߎ㒧ᵰ[6]Ў˖
ᓎゟ᥻ࠊㄪ⬹ˈ䳔㽕䙉ᕾҹϟⱘॳ߭˖ᔧ䇃Ꮒ䕗໻ᯊˈ䗝 56
ᢽ᥻ࠊ఼ᑨҹሑᖿ⍜䰸䇃ᏂЎЏ˗ᔧ䇃Ꮒ䕗ᇣᯊˈ䗝ᢽ᥻ ∑ μe i (e) μei (e)δ i
ࠊ఼㽕ҹ䰆ℶ䍙䇗ˈֱᣕ㋏㒳〇ᅮᗻЎЏ㽕ⱘߎথ⚍DŽҙ δl = i =1
56
ˈ i = 1,2...5,6 (5)
∑ μe (e) μe (e)
i i

i =1

݊Ёˈμ e (e) μ e (e) ᰃ㄀ i Ͼ㾘߭ࠡᦤᴵӊⱘ㕂ֵᑺߑ᭄DŽδ i

i i

ᰃ㄀ i ᴵ㾘߭᠔ᇍᑨⱘ䕧ߎ䲊ሲᑺߑ᭄ⱘ䋼ᖗDŽ

3.3 ῵㊞ PID ᥻ࠊ఼ⱘᵘ䗴

ҹϞ᠔ᦣ䗄ⱘ㒣‫݌‬῵㊞᥻ࠊ఼ⳌᔧѢ‫݋‬᳝䴲㒓ᗻ PID
᥻ࠊᕟⱘ᥻ࠊ఼ˈབᵰ᥻ࠊಲ䏃Ё≵᳝⿃ߚ⦃㡖ˈᅗⱘ〇
ᗕᗻ㛑䖰ϡབ᱂䗮ⱘ PID ᥻ࠊ఼[7]˗ৠᯊ῵㊞᥻ࠊ఼೼䖯
㸠῵㊞࣪੠㾷῵㊞࣪ⱘ䖛⿟Ёˈ⬅Ѣ䞣࣪䇃Ꮒⱘᄬ೼ˈՓ
ᕫ῵㊞᥻ࠊ఼ⱘ䕧ߎϡ㛑‫ⱘ⹂ޚ‬ড᯴݊᥻ࠊ㾘߭˗㗠Ϩ೼
〇ᗕ䰊↉ѻ⫳〇ᗕ䇃ᏂDŽ಴ℸˈऩ㒃ⱘ῵㊞᥻ࠊ఼᳝ᕜ໻
ⱘሔ䰤ᗻˈ㒧ড়Ӵ㒳ⱘ PID ᥻ࠊӮᇍ᮴ҎⳈछᴎⱘ᥻ࠊᗻ
㛑᳝䕗໻ⱘᦤ催[8]DŽ
PID ᥻ࠊ఼ⱘ߱ྟখ᭄ᰃ䗮䖛߽⫼᮴ҎⳈछᴎ ‫ذ‬⢊
ᗕϟⱘ㒓ᗻ࣪῵ൟ䖯㸠ӓⳳ᠔ᕫߎᴹⱘ㒣偠᭄᥂ˈ✊ৢᡞ
೒ 3˖䲊ሲᑺߑ᭄⼎ᛣ೒

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㒣偠খ᭄ᑨ⫼ࠄϞ᭛ᦤࠄⱘ䍙ᇣൟᅲ偠᮴ҎⳈछᴎ PID ᥻
ࠊ㋏㒳Ϟˈ䗮䖛໮⃵ᅲ䰙ᅲ偠ˈϡᮁᖂ䇗খ᭄᭄ؐˈ᳔ৢ
ᕫࠄϔϾ↨䕗ড়⧚ⱘখ᭄ᇍᰃ˖
K p = 0.25 Ki = 0 K d = 0.006
೼῵㊞ PID ᥻ࠊ఼ⱘ䆒䅵Ёˈ䇃Ꮒ߸ᮁᴵӊ e0 ⱘ䗝প
ᰃ↨䕗䞡㽕ⱘˈᅗᕅડⴔ᥻ࠊ䋼䞣ⱘ催ԢDŽᔧᳳᳯؐϢᅲ
䰙⌟䞣ؐⱘ䇃Ꮒⱘ㒱ᇍؐ e ໻Ѣ៪ㄝѢ e0 ᯊˈ῵㊞ PID ᥻
ࠊ఼ⱘ᥻ࠊֵো䕧ߎᰃ߽⫼῵㊞᥻ࠊ఼ⱘ䕧ߎˈՓ㋏㒳Ⳍ
ᑨⱘ䍙䇗‫ޣ‬ᇣˈ‫ޣ‬ᇣ᥻ࠊডᑨᯊ䯈ˈՓⳈछᴎঞᯊಲ໡ࠄ
 ‫ذ‬⢊ᗕDŽᔧ䇃Ꮒⱘ㒱ᇍؐ e ᇣѢ e0 ᯊˈ᥻ࠊ఼ߛᤶࠄᐌ
㾘 PID ᥻ࠊˈ⍜䰸〇ᗕ䇃ᏂˈᑊϨՓ ‫ذ‬⢊ᗕֱᣕϔᅮⱘ
〇ᅮᗻDŽ䗮䖛ӓⳳ੠ᅲഄᅲ偠ˈ᳔㒜⹂ᅮ e0 ⱘ᭄ؐЎ 2$ DŽ
⫼ৠḋⱘᮍ⊩ৃҹᓎゟ⒮䕀䗮䘧੠‫أ‬㟾䗮䘧ⱘ῵㊞㾘
߭ᑧˈ✊ৢᵘ䗴ߎ↣ϔϾ䗮䘧Ϟⱘ῵㊞ PID ᥻ࠊ఼ˈҢ㗠
ᓎゟ᮴ҎⳈछᴎⱘ῵㊞ PID ࿓ᗕ᥻ࠊ㋏㒳[10]DŽ
4ˊ᭄ؐӓⳳϢᅲ䰙䆩偠
4.1 Matlab ӓⳳϢ䅼䆎
߽⫼ Matlab Ꮉ‫݋‬ᇍ PID ᥻ࠊǃ῵㊞᥻ࠊ੠䆒䅵ⱘ῵㊞
PID ᥻ࠊ఼䖯㸠ӓⳳˈ᥻ࠊᇍ䈵Ў ‫ذ‬⢊ᗕϟⱘⳈछᴎࡼ
ᗕ㒓ᗻ࣪῵ൟ˗ߚ߿↨䕗ᅗӀ೼ࡼᗕ੠〇ᗕᗻ㛑ᮍ䴶ⱘ᥻
ࠊᬜᵰDŽ↨䕗㒧ᵰབ೒ 4 ᠔⼎DŽᡞऩԡ䰊䎗ֵো԰Ўϝ⾡
᥻ࠊㅫ⊩ⱘ㋏㒳䕧ܹˈ⬅Ѣ῵㊞ PID ᥻ࠊ఼ⱘ䇃Ꮒ߸ᮁᴵ
ӊᰃ 2$ ˈ᠔ҹℸᯊ῵㊞ PID ᥻ࠊ఼ⱘ䕧ߎ੠ऩ㒃 PID ᥻ࠊ
఼ⱘ䕧ߎᰃⳌৠⱘˈ಴Ўℸӓⳳᴵӊϟֵো‫أ‬Ꮒྟ㒜ᇣѢ
2$ DŽ᠔ҹ೼䕧ֵܹোЎऩԡ䰊䎗ᯊˈЎњӓⳳⱘ䳔㽕ˈপ
e0 ⱘ᭄ؐЎ 0.4DŽҢ೒ 4 Ёৃҹⳟߎˈ῵㊞᥻ࠊ఼ⱘⳌᑨ↨
PID ᥻ࠊ఼㽕ᖿˈϞछᯊ䯈੠䖛⏵ᯊ䯈ⷁᑊϨ᮴䍙䇗ˈԚ
ᰃᅗⱘ〇ᗕ㊒ᑺᕜᏂˈ᳝ᕜ໻ⱘ〇ᗕ䇃ᏂDŽPID ᥻ࠊ఼೼
Ϟछᯊ䯈ǃ䖛⏵ᯊ䯈ㄝᗻ㛑ᣛᷛϞ↨῵㊞᥻ࠊ㽕ᏂˈԚᰃ
〇ᗕ㊒ᑺ催ˈৃҹ⍜䰸〇ᗕ䇃ᏂDŽ㗠᠔⫼ⱘ῵㊞ PID ᥻ࠊ
఼೼Ϟछᯊ䯈ǃ䖛⏵ᯊ䯈ҹঞ〇ᗕ㊒ᑺㄝ৘乍ᗻ㛑ᣛᷛ䛑
䖒ࠄњᕜདⱘᬜᵰDŽ
೒ 4˖PID ᥻ࠊǃ῵㊞᥻ࠊ੠῵㊞ PID ᥻ࠊ䰊䎗ડᑨ↨䕗೒
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4.2 ᅲ䰙䆩偠ঞ䅼䆎
ᡞ῵㊞ PID ᥻ࠊㅫ⊩䖯㸠㓪⿟ᅲ⦄ˈᓎゟ䍙ᇣൟᅲ偠
᮴ҎⳈछᴎⱘ㞾ࡼ᥻ࠊ㋏㒳DŽ᠟ࡼ᪡᥻᮴ҎⳈछᴎϞछࠄ
ᑇ㸵⢊ᗕᯊˈߛᤶࠄ㞾ࡼ⢊ᗕDŽℸᯊˈ῵㊞ PID ࿓ᗕ᥻ࠊ
఼䗮䖛ᇍ῾⒮㾦 φ ˈ‫׃‬ӄ㾦 θ ੠㟾৥㾦ψ 䖭ϝϾ䗮䘧ⱘ㞾
ࡼ᥻ࠊᴹֱᣕ᮴ҎⳈछᴎ໘Ѣ〇ᅮⱘ ‫ذ‬⢊ᗕDŽ೒ 5 ᠔⼎
ⱘЎ‫׃‬ӄ㾦䗮䘧Ϟⱘ῵㊞ PID ᥻ࠊ఼ⱘᅲ䰙亲㸠᥻ࠊ᳆㒓
೒DŽ೒Ё㑶㡆ⱘ⚍㒓㸼⼎᮴ҎⳈछᴎ‫׃‬ӄ㾦ⱘ⌟䞣ؐˈ㪱
㡆ⱘⳈ㒓Ў῵㊞ PID ᥻ࠊ఼೼‫׃‬ӄ㾦䗮䘧Ϟⱘ᥻ࠊ఼䕧
ߎDŽ
Ң೒Ё᳆㒓ৃҹⳟߎ˖‫׃‬ӄ㾦ⱘ໻䚼ߚ㾦ᑺؐ೼ 2 ᑺ
П‫ˈࡼ⊶ݙ‬ℸᯊ῵㊞ PID ᥻ࠊ఼ⱘ PID 䚼ߚ೼䍋԰⫼ˈⳈ
छᴎ෎ᴀ໘Ѣ ‫ذ‬⢊ᗕϟˈ᥻ࠊ఼䕧ߎ㛑໳㋻䎳⌟䞣ؐⱘ
ᬍব‫Ⳍߎخ‬ᑨⱘ䇗ᭈDŽҢ೒Ё᭄᥂ৃҹⳟߎˈ೼໻ὖ 19 ⾦
ⱘᯊ‫Ⳉˈ׭‬छᴎফࠄ໪⬠䰉亢↨䕗໻ⱘᑆᡄˈ‫׃‬ӄ㾦᳝Ͼ
䕗໻ⱘ⊶ࡼˈℸᯊ῵㊞ PID ᥻ࠊ఼㞾ࡼߛᤶࠄ῵㊞᥻ࠊ䚼
ߚˈ῵㊞㾘߭䍋Џᇐ԰⫼ˈ↨ऩ㒃 PID ᥻ࠊѻ⫳᳈དⱘ᥻
ࠊᬜᵰDŽҢ᭄᥂Ϟৃҹⳟߎˈ᥻ࠊ఼೼ϡࠄ 1 ⾦ⱘᯊ䯈‫ݙ‬
ህᡞ䅽Ⳉछᴎⱘ‫׃‬ӄ㾦ಲ໡ࠄ 1 ᑺᎺেˈ㑴ℷ԰⫼↨䕗ঞ
ᯊDŽℸৢˈ೼⢊ᗕ෎ᴀࠄ䖒ᑇ㸵⢊ᗕПৢˈ῵㊞ PID ᥻ࠊ
఼জߛᤶࠄ PID ᥻ࠊ䚼ߚDŽ᮴䆎ᰃҢ᭄᥂ߚᵤ㒧ᵰ䖬ᰃҢ
ᅲ䰙亲㸠࿓ᗕϞⳟˈ῵㊞ PID ᥻ࠊ఼䛑㛑ᅲ⦄᮴ҎⳈछᴎ
ⱘ࿓ᗕ᥻ࠊDŽ
೒ 5˖෎Ѣ῵㊞ PID ᥻ࠊⱘⳈछᴎ‫׃‬ӄ㾦ࡼᗕ䎳䏾೒
5ˊ㒧䆎
Ўњ䖒ࠄ〇ᅮⱘ䍙ᇣൟ᮴ҎⳈछᴎ࿓ᗕ᥻ࠊᬜᵰˈᴀ
᭛䗮䖛㒧ড়῵㊞᥻ࠊ੠᱂䗮 PID ᥻ࠊㅫ⊩ⱘӬ⚍ˈᵘ䗴њ
῵㊞ PID ᥻ࠊ఼ˈҢ㗠Փ᥻ࠊ఼‫݋‬᳝᳈ᖿⱘডᑨᯊ䯈੠᥻
ࠊ䋼䞣DŽ ೼⧚䆎ߚᵤⱘ෎⸔Ϟˈ ߽⫼ Matlab ӓⳳ↨䕗њ PID
᥻ࠊˈ῵㊞᥻ࠊ੠῵㊞ PID ᥻ࠊ೼ऩԡ䰊䎗䕧ܹϟⱘડᑨ
ᬜᵰDŽᡞ䆒䅵དⱘ῵㊞ PID ᥻ࠊ఼ᑨ⫼ࠄᅲ䰙ⱘ䍙ᇣൟ᮴
ҎⳈछᴎ࿓ᗕ᥻ࠊ㋏㒳Ёˈᕫࠄњ⒵ᛣⱘ㋏㒳ࡼᗕǃ〇ᗕ
ᗻ㛑ˈপᕫњ㡃དⱘ᥻ࠊᬜᵰˈЎҹৢᅲ⦄᮴ҎⳈछᴎⱘ
ᴎࡼ亲㸠᥻ࠊ༴ᅮњ෎⸔DŽ
 খ㗗᭛⤂

[1] 䙧ᆙ୚, 咘೷䋶, ߬҂ㄝ. 䍙ᇣൟ᮴Ҏ偒偊Ⳉछᴎⷨお⦄⢊.

ᴎ⬉ϔԧ࣪, 2004 ᑈ(1): 18-21.
[2] ⏇Ѣ∳⇥, ᓴ㸡. ᖂൟ᮴ҎⳈछᴎᡔᴃⷨお⦄⢊Ϣሩᳯ. ᴎ
఼ҎᡔᴃϢᑨ⫼, 2004(6): 6-11.
[3] B. Mettler, C. Dever and E. Feron. “Identification Modeling,
Flying Qualities and Dynamic Scaling of Miniature Rotorcraft”.
Present-ed at the NATO SCI-120 Symposium on Challenges in
Dynamics, System Identification, Control and Handling
Qualities For Land, Air, Sea and Space Vehicles, Berlin,
Germany, May 2002. Page: 64-49.
[4] B. Mettler, M. Tischler and T. Kanade, "System Identification
Modeling of a Small-Scale Unmanned Rotorcraft for Flight
Control Design". American Helicopter Society, Journal, 2002.
Page: 41-46.
[5] ᴢ຿࢛. ῵㊞᥻ࠊ噝⼲㒣᥻ࠊ੠ᱎ㛑᥻ࠊ䆎. જᇨⒼ: જᇨⒼ
ᎹϮ໻ᄺߎ⠜⼒, 1998.
[6] ⥟ゟᮄ. ῵㊞㋏㒳Ϣ῵㊞᥻ࠊᬭ⿟. ⥟䖢‫ ݯ‬䆥. ࣫Ҁ: ⏙ढ
໻ᄺߎ⠜⼒, 2003.
[7] ⥟ゟᮄ. 㞾䗖ᑨ῵㊞㋏㒳Ϣ᥻ࠊ;䆒䅵Ϣ〇ᅮᗻߚᵤ. ࣫Ҁ:
೑䰆ᎹϮߎ⠜⼒, 1995.
[8] ‫ހރ‬䴦. ῵㊞ᱎ㛑᥻ࠊ. ࣫Ҁ: ࣪ᄺᎹϮߎ⠜⼒, 1998.
[9] Timothy J Ross. ῵㊞䘏䕥ঞ݊Ꮉ⿟ᑨ⫼. 䪅ৠᚴ ㄝ䆥. ࣫
Ҁ: ⬉ᄤᎹϮߎ⠜⼒, 2001.
[10] Bourhane Kadmiry,Dimiter Driankov. A Fuzzy Gain-Scheduler
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