Preliminary study on Unmanned Aerial Vehicle (UAV) Quadcopter using PID controller

2015 ◽  
Author(s):  
Muhammad Arifudin Lukmana ◽  
Hendro Nurhadi
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Aerial Vehicle ◽  
Preliminary Study

scholarly journals PERANCANGAN AUTOPILOT LATERAL-DIREKSIONAL PESAWAT NIRAWAK LSU-05 (THE DESIGN OF THE LATERAL-DIRECTIONAL AUTOPILOT FOR THE LSU-05 UNMANNED AERIAL VEHICLE)

2018 ◽  
Vol 15 (2) ◽  
pp. 93 ◽  
Author(s):  
Muhammad Fajar ◽  
Ony Arifianto
Keyword(s):  
State Space ◽  
Linear Model ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Settling Time ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Directional Motion ◽  
Aerial Vehicle ◽  
Simulation Results

The autopilot on the aircraft is developed based on the mode of motion of the aircraft i.e. longitudinal and lateral-directional motion. In this paper, an autopilot is designed in lateral-directional mode for LSU-05 aircraft. The autopilot is designed at a range of aircraft operating speeds of 15 m/s, 20 m/s, 25 m/s, and 30 m/s at 1000 m altitude. Designed autopilots are Roll Attitude Hold, Heading Hold and Waypoint Following. Autopilot is designed based on linear model in the form of state-space. The controller used is a Proportional-Integral-Derivative (PID) controller. Simulation results show the value of overshoot / undershoot does not exceed 5% and settling time is less than 30 second if given step command. Abstrak Autopilot pada pesawat dikembangkan berdasarkan pada modus gerak pesawat yaitu modus gerak longitudinal dan lateral-directional. Pada makalah ini, dirancang autopilot pada modus gerak lateral-directional untuk pesawat LSU-05. Autopilot dirancang pada range kecepatan operasi pesawat yaitu 15 m/dtk, 20 m/dtk, 25 m/dtk, dan 30 m/dtk dengan ketinggian 1000 m. Autopilot yang dirancang adalah Roll Attitude Hold, Heading Hold dan Waypoint Following. Autopilot dirancang berdasarkan model linier dalam bentuk state-space. Pengendali yang digunakan adalah pengendali Proportional-Integral-Derivative (PID). Hasil simulasi menunjukan nilai overshoot/undershoot tidak melebihi 5% dan settling time kurang dari 30 detik jika diberikan perintah step.

Design and analysis of a feedback loop to regulate the basic parameters of the unmanned aircraft

2018 ◽  
Vol 92 (3) ◽  
pp. 318-328
Author(s):  
Marcin Chodnicki ◽  
Katarzyna Bartnik ◽  
Miroslaw Nowakowski ◽  
Grzegorz Kowaleczko
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Rapid Prototyping ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Control Object ◽  
Unmanned Aircraft ◽  
Feedback Control System ◽  
Content Type ◽  
Aerial Vehicle

Purpose The motivation to perform research on feedback control system for unmanned aerial vehicles, a fact that each quadrocopter is unstable. Design/methodology/approach For this reason, it is necessary to design a control system which is capable of making unmanned aerial vehicle vertical take-off and landing (UAV VTOL) stable and controllable. For this purpose, it was decided to use a feedback control system with cascaded PID controller. The main reason for using it was that PID controllers are simple to implement and do not use much hardware resources. Moreover, cascaded control systems allow to control object response using more parameters than in a standard PID control. STM32 microcontrollers were used to make a real control system. The rapid prototyping using Embedded Coder Toolbox, FreeRTOS and STM32 CubeMX was conducted to design the algorithm of the feedback control system with cascaded PID controller for unmanned aerial vehicle vertical take-off and landings (UAV VTOLs). Findings During research, an algorithm of UAV VTOL control using the feedback control system with cascaded PID controller was designed. Tests were performed for the designed algorithm in the model simulation in Matlab/Simulink and in the real conditions. Originality/value It has been proved that an additional control loop must have a full PID controller. Moreover, a new library is presented for STM32 microcontrollers made using the Embedded Coder Toolbox just for the research. This library enabled to use rapid prototyping while developing the control algorithms.

INTEGRATED PID CONTROLLER DESIGN FOR AN UNMANNED AERIAL VEHICLE WITH STATIC STABILITY

2013 ◽  
Vol 54 (3) ◽  
pp. 200-215 ◽  
Author(s):  
R. LI ◽  
Y. J. SHI ◽  
H. L. XU
Keyword(s):  
Fuzzy Control ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Design Procedure ◽  
Static Stability ◽  
Aerial Vehicle ◽  
Rolling Mode

AbstractThis paper presents an integrated guidance and control (IGC) design method for an unmanned aerial vehicle with static stability which is described by a nonlinear six-degree-of-freedom (6-DOF) model. The model is linearized by using small disturbance linearization. The dynamic characteristics of pitching mode, rolling mode and Dutch rolling mode are obtained by analysing the linearized model. Furthermore, an IGC design procedure is also proposed in conjunction with a proportional–integral–derivative (PID) control method and fuzzy control method. A PID controller is applied in the control loop of the elevator and aileron, and the attitude angle and attitude angular velocity are used as compensation feedback, giving a simple and low-order control law. A fuzzy control method is applied to perform the cross-coupling control of rolling and yawing. Finally, the 6-DOF simulation shows the effectiveness of the developed method.

Dynamic Modeling for a Miniature Six-Rotor Unmanned Aerial Vehicle

2013 ◽  
Vol 321-324 ◽  
pp. 819-823 ◽  
Author(s):  
Qi Dong Ma ◽  
Zhen Guo Sun ◽  
Jing Ran Wu ◽  
Wen Zeng Zhang
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Driving Force ◽  
Pid Controller ◽  
Control Algorithm ◽  
Driving Forces ◽  
Euler Angles ◽  
Unstable System ◽  
Nonlinear Dynamic Model ◽  
Aerial Vehicle ◽  
Simulation Results

A nonlinear dynamic model of a miniature Six-Rotor is presented. A 4 channels PID controller is designed to operate the under actuated and dynamically unstable system with 6 inputs. Driving forces of 6 rotors are divided into four components such as throttle, roll, pitch and yaw. The control algorithm is simulated with Design Optimization Toolbox in Matlab. After observing the corresponding responses of Euler angles, the altitude and the driving force for each motor, the simulation results show good performance.

Optimal PID controller design with Kalman filter for Qball-X4 quad-rotor unmanned aerial vehicle

2016 ◽  
Vol 39 (12) ◽  
pp. 1785-1797 ◽  
Author(s):  
Feng Pan ◽  
Lu Liu ◽  
Dingyu Xue
Keyword(s):  
Mathematical Model ◽  
Kalman Filter ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Closed Loop ◽  
Controller Design ◽  
Absolute Error ◽  
Pid Controller Design ◽  
Aerial Vehicle ◽  
Set Up

In this paper, we used a Qball-X4 quad-rotor unmanned aerial vehicle (UAV) which was developed by the Quanser Company as the experimental platform. First, a fundamental mathematical model of the Qball-X4 quad-rotor UAV was built and a simulation model was set up based on the proposed mathematical model; then, a double closed-loop optimal proportional–integral–derivative (PID) controller based on integral of time multiplied by absolute error (ITAE) indices was designed according to the model structure. In consideration of the possible system error and data delay, we designed a corresponding Kalman filter, which can estimate the target trajectory and be put before the proposed PID controller to ensure their validity. Finally, simulation results of the system with presented PID controller and Kalman filter were shown to verify their effectiveness.

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