scholarly journals Optimasi Kendali PID menggunakan Algoritma Genetika untuk Penerbangan Quadrotor

2017 ◽  
Vol 7 (2) ◽  
pp. 173
Author(s):  
Khalaqas Hakiim ◽  
Andi Dharmawan ◽  
Faizah Faizah
Keyword(s):  
Genetic Algorithm ◽  
Steady State ◽  
Unmanned Aerial Vehicle ◽  
Pitch Angle ◽  
Pid Controller ◽  
Algorithm Optimization ◽  
Research Designs ◽  
Result Show ◽  
Aerial Vehicle ◽  
Yaw Angle

Quadrotor is square-form unmanned aerial vehicle (UAV) type with four motor in each arms. Quadrotor has ability to take-off and landing vertically. This research designs and creates a system that capable to stabilize the quadrotor flight also able to maintain roll, pitch and yaw angle using PID controller optimized by genetic algorithm, one of evolutionary algorithms.PID is a common applied controller including to control the quadrotor. Tunning or setting PID parameter process is needed to obtain fit PID parameters. Tunning is very important to reach quadrotor flight stability. This research applies Ziegler-Nichols tunning to obtain PID parameters. Then the PID parameters will be a reference for genetic algorithm optimization process to obtain the suitest PID parameter to control roll, pitch ,and yaw angle.Optimization process result show quadrotor controller capable to reach stability with steady state error for pitch angle in range 2,34 degree conterclockwise to 3,37 degree clockwise, for roll angle in range 2,99 degreee counterclockwise to 2,27 degree clockwise, and for yaw angle in range 8,39 degree counterclockwise to 3,89 degree clockwise.

scholarly journals Synthesis of invariant circuit angular stabilization of unmanned aircraft at the pitch angle

2020 ◽  
pp. 14-20
Author(s):  
I. V. Rozhkov
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Pitch Angle ◽  
Pid Controller ◽  
Inverse Dynamics ◽  
Unmanned Aircraft ◽  
Synthesis Methods ◽  
Invariant System ◽  
Robust Controller ◽  
Aerial Vehicle ◽  
Dynamics Problems

The article considers the synthesis methods of an automatic invariant system of the pitch angle stabilization of an unmanned aerial vehicle that is based on the concept of inverse dynamics problems. The methods and results of simulation mathematical results of synthesized stabilization loop with using the Simulink of program MATLAB. The results of a comparative analysis of the dynamic characteristics of the contour of angular stabilization of an unmanned aerial vehicle by pitch angle with a PID-controller and a synthesized robust controller are presented.

scholarly journals Forward flight tests of a quadcopter unmanned aerial vehicle with various spherical body diameters

2020 ◽  
Vol 12 ◽  
pp. 175682932092356
Author(s):  
Bart Theys ◽  
Joris De Schutter
Keyword(s):  
Steady State ◽  
Unmanned Aerial Vehicle ◽  
Pitch Angle ◽  
Spherical Body ◽  
The Body ◽  
Frontal Surface ◽  
Horizontal Flight ◽  
Constant Pitch ◽  
Aerial Vehicle ◽  
Straight Lines

This paper presents experimental results on the relation between forward airspeed, pitch angle, and power consumption of a quadcopter unmanned aerial vehicle. The quadcopter consists of an interchangeable spherical body, four cylindrical arms, and small propellers mounted at 1 m diagonal distance to minimize interference between body and propellers. This simple geometry facilitates results reproduction and comparison with simulation. Two different takeoff masses and four diameters of spherical bodies are tested for their steady-state speed and power for pitch angles up to [Formula: see text]. The steady-state horizontal flight is recorded with on-board sensors at the end of flying long straight lines at a constant pitch angle in wind-still conditions. The best effective lift-to-drag ratio increases for smaller bodies and occurs at higher speeds for increasing mass. Results show that the equivalent frontal surface stays constant for pitch angles further than [Formula: see text] up to the maximum recorded [Formula: see text] and increases linearly with the frontal surface of the body.

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.

Modelling and PID Control of a Quadrotor Aerial Robot

2014 ◽  
Vol 903 ◽  
pp. 327-331 ◽  
Author(s):  
Ismail Mohd Khairuddin ◽  
Anwar P.P.A. Majeed ◽  
Ann Lim ◽  
Jessnor Arif M. Jizat ◽  
Abdul Aziz Jaafar
Keyword(s):  
Pid Control ◽  
Pitch Angle ◽  
Pid Controller ◽  
Pd Controller ◽  
Proportional Integral Derivative ◽  
Hovering Flight ◽  
Proportional Integral ◽  
Aircraft Model ◽  
Aerial Robot ◽  
Aerial Vehicle

This paper elucidates the modeling of a + quadrotor configuration aerial vehicle and the design of its attitude and altitude controllers. The aircraft model consists of four fixed pitch angle propeller, each driven by an electric DC motor. The hovering flight of the quadrotor is governed by the Newton-Euler formulation. The attitude and altitude controls of the aircraft were regulated using heuristically tuned (Proportional-Integral-Derivative) PID controller. It was numerically simulated via Simulink that a PID controller was sufficient to bring the aircraft to the required altitude whereas the attitude of the vehicle is adequately controlled by a PD controller.

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