The optimization of the lateral motion control system of an unmanned aerial vehicle

Underground mining operations are connected with significant risks of technogenic accidents, which can be catastrophic. Mitigating the consequences of such phenomena directly depends on the reliability and efficiency of information about the state of parameters of many technological processes, mine workings and facilities located in them. At failure of standard systems of industrial telemetry in conditions of underground mining the creation of new information channels and places of information measurementbecomes practically impossible in case of emergency situation development. This predetermines necessity of use of essentially new systems of gathering and transfer of the information, based on robotized autonomous complexes. The task of acquiring reliable information about the situation in an emergency mine working with the help of drones (unmanned aerial vehicles or UAV) in order to make rational decisions in the course of the rescue operation is quite relevant. The aim of the paper was to develop a system of automatic control of an unmanned aerial vehicle (UAV) movement in confined space of a mine working, with significant perturbations of the mine air flow. The mathematical model of UAV movement in mine conditions, based on Euler angles or quaternions, was substantiated. The method of positioning through triangulation with the use of radio beacons was accepted as the basic method that allowed to determine the current position of an UAV. It was proposed to solve the problem of creation of the automatic system for an unmanned aerial vehicle movement control with the use of a hierarchical multiloop control system. The route planning algorithm was formed on the basis of the Dijkstra algorithm. For this purpose, discretization of the future motion space was performed, a labeled connected graph was constructed, on which the arc weights were the distances between the route points. A simulation experiment was implemented. The average deviation from the planned trajectory when flying at a speed of 10 m/s with payload mass up to 0.6 kg did not exceed 1 m, and the maximum deviation was unacceptably large. When flying at 6 m/s with payload mass up to 0.6 kg the average deviation did not exceed 0.3 m, and the maximum deviation, 1.2 m. The results of simulation of movement along the route towards the disturbing mine airflow showed that the control system allowed the UAV with payload of 0.6 kg to withstand the oncoming flow up to 8 m/s. It was obtained that with payload mass of 0.6 kg, the braking distance does not exceed 6 m if the UAV had a speed of 6 m/s, and the braking distance does not exceed 12 m at the speed of 10 m/s. The performed simulation studies confirmed the operating capability of the developed system for automatic motion control.

Download Full-text

Design and analysis of lateral motion control algorithms for an unmanned aerial vehicle with two control surfaces

Automation and Remote Control ◽

10.1134/s0005117917050137 ◽

2017 ◽

Vol 78 (5) ◽

pp. 924-935 ◽

Cited By ~ 5

Author(s):

V. M. Glumov ◽

A. M. Puchkov ◽

A. E. Seleznev

Keyword(s):

Motion Control ◽

Unmanned Aerial Vehicle ◽

Control Algorithms ◽

Lateral Motion ◽

Aerial Vehicle ◽

Control Surfaces

Download Full-text

Penerapan Sistem Kendali PID pada Antena Pendeteksi Koordinat Posisi UAV

IJEIS (Indonesian Journal of Electronics and Instrumentation Systems) ◽

10.22146/ijeis.7642 ◽

2015 ◽

Vol 5 (2) ◽

pp. 187

Author(s):

Mahendra Budi Nugraha ◽

Raden Sumiharto

Keyword(s):

Control System ◽

Motion Control ◽

Unmanned Aerial Vehicle ◽

Pid Control ◽

Pid Controller ◽

Vertical Motion ◽

Pd Control ◽

Is Implementation ◽

Aerial Vehicle ◽

Control Set

AbstrakPada penelitian ini telah diterapkan sebuah sistem kendali Proporsional-Integral-Derivatif (PID) pada antena pendeteksi koordinat posisi pesawat udara tanpa awak. Sistem kendali PID pada antena pendeteksi digunakan pada kendali gerak horizontal dan vertikal. Nilai acuan kendali PID untuk gerak horizontal adalah sudut azimuth antara antena dan UAV. Sudut tersebut didapatkan dari metode azimuth antara dua buah titik koordinat. Nilai acuan kendali PID untuk gerak vertikal adalah sudut elevasi yang didapat dari metode Haversine Formula dan Sinus Trigonemetri antara jarak dua titik koordinat terhadap ketinggian UAV. Metode tuning PID yang digunakan untuk memperoleh konstanta pengendali PID adalah metode Ziegler-Nichols dengan metode osilasi dan tabel penalaran sistem kendali Ziegler-Nichols.Hasil yang diperoleh dari penelitian ini berupa penerapan sistem kendali PID berdasarkan metode Ziegler-Nichols. Sistem kendali berdasarkan tabel penalaran Ziegler-Nichols divariasikan tiga jenis sistem kendali yaitu P, PI, dan PID. Sistem kendali PD juga diterapkan berdasarkan tabel penalaran Ziegler-Nichols dengan pengendali integral diatur bernilai 0. Sistem kendali yang memiliki respon paling baik adalah sistem kendali PD dengan nilai Kp = 11,375 dan Kd = 0,372531 untuk kendali azimuth sedangkan kendali elevasi pada nilai Kp = 3,41 dan Kd = 0,111464. Respon yang dihasilkan kendali azimuth sebesar 0,32 detik dan kendali elevasi sebesar 0,34 detik. Kata kunci—PID, Antena Pendeteksi, Servo, UAV Abstract In this project has been implemented a PID control system on antenna tracker of unmanned aerial vehicle coordinates. PID control system on antena tracker to be used on horizontal and vertikal motion control. The setpoint of PID controller for horizontal motion is azimuth’s angle between antenna and UAV. The angle produced by azimuth’s method between two coordinates. The setpoint of PID controller for vertical motion is elevasi’s angle that produced by haversine-formula’s method and Sinus Trigonometry between distance two coordinates toward altitude of UAV. Tuning of PID controller was calculated by Ziegler-Nichols’s method with oscillation’s method and reasoning table of Ziegler-Nichols.The result from this project is implementation PID control system with Ziegler-Nichols’s method. There ara 3 variations in Ziegler-Nichols’s table, that are P, PI, and PID control system. The PD control system also implemented with integral’s control set on 0. The control system that has a good response is PD control system with Kp = 11,375 and Kd = 0,372531 on azimuth’s control whereas elevasi’s control with Kp = 3,41 and Kd = 0,111464. Response that produced by azimuth’s control is 0,32 second and elevasi’s control is 0,34 second. Keywords—PID, Antenna Tracker, Servo, UAV

Download Full-text

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

Proceedings of the Mavlyutov Institute of Mechanics ◽

10.21662/uim2010.1.009 ◽

2010 ◽

Vol 7 ◽

pp. 109-117

Author(s):

O.V. Darintsev ◽

A.B. Migranov ◽

B.S. Yudintsev

Keyword(s):

Control System ◽

Mobile Robot ◽

Mobile Robots ◽

Motion Control ◽

High Speed ◽

Ultrasonic Sensor ◽

Sensor System ◽

Motion Control System ◽

Speed Sensor ◽

Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

Download Full-text