Abstract: Aiming at the phenomenon of variable loads generated by fuel consumption during the flight of oil-electric hybrid six-rotor unmanned aerial vehicles (UAVs), which leaded to sluggish flight attitude response, a fuzzy proportion integration differentiation (PID) flight control strategy combined with energy management was designed. Firstly, the oil-electric hybrid six-rotor UAV with a maximum demand power of 2.0 kw and a mass of 18 kg was taken as the research object to establish the MATLAB / Simulink model. Secondly, the fuzzy algorithm was used to carry out the fuzzification-membership functions-rule libraries-anti-fuzzification processing of the mass of variable load and inertia of rotation, adjust the PID value in real time and solve the problem of sluggish attitude response. Finally, the ladder and cruise conditions were designed to observe the attitude response of the UAV. The results show that the fuel consumption will have an adverse effect on the position offset when the attitude changes. Compared with the ordinary PID, the proposed flight control strategy will correct the PID parameters under different loads in real time. When the flight condition changes, the position peak offset is 6m, and the stability performance is good. At the same time, in terms of offset correction, the fuzzy PID can correct the offset within 20 s, and can continue to maintain the existing attitude, which reflects that the fuzzy PID flight control strategy has excellent tracking performance.

摘要： 针对油电混动六旋翼无人机飞行因燃油消耗而产生变载荷，进而导致飞行姿态响应迟钝的现象，设计出结合能量管理的模糊PID（proportion integration differentiation，PID）飞行控制策略。首先，以最大需求功率为2.0 kW、质量为18 kg的油电混动六旋翼无人机为研究对象，建立MATLAB/Simulink模型；其次，利用模糊算法对变载荷的质量和转动惯量进行模糊化-隶属度函数-规则库-反模糊化处理，实时调整PID值，解决姿态响应迟钝的问题；最后，设计阶梯和巡航工况，观测无人机的姿态响应情况。结果表明：燃油消耗会在姿态变动时，对位置偏移产生不利影响；与普通PID相比，提出的飞行控制策略会实时修正不同载荷下的PID参数，当飞行状况改变时，位置峰值偏移量为6 m，稳定性能良好；同时，在偏移修正方面，模糊PID可在20 s内对偏移量进行修正，并且能持续保持现有姿态，表明模糊PID飞行控制策略具有优异的跟随性能。