scholarly journals The Design of Optimal PID Control Method for Quadcopter Movement Control

2018 ◽  
Vol 2 (1) ◽  
pp. 1 ◽  
Author(s):  
Hanum Arrosida ◽  
Mohammad Erik Echsony
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Controller Design ◽  
Minimum Energy ◽  
Linear Quadratic Regulator ◽  
Research Field ◽  
Unmanned Aircraft ◽  
Control Methods ◽  
Linear Quadratic ◽  
Optimal Pid Control

Nowadays, quadcopter motion control has become a popular research topic because of its versatile ability as an unmanned aircraft can be used to alleviate human labor and also be able to reach dangerous areas or areas which is unreachable to humans. On the other hand, the Optimal PID control method, which incorporates PID and Linear Quadratic Regulator (LQR) control methods, has also been widely used in industry and research field because it has advantages that are easy to operate, easy design, and a good level of precision. In the PID control method, the main problem to be solved is the accuracy of the gain value Kp, Ki, and Kd because the inappropriateness of those value will result in an imprecise control action. Based on these problems and referring to the previous study, the optimal PID control method was developed by using PID controller structure with tuning gain parameter of PID through Linear Quadratic Regulator (LQR) method. Through the integration of these two control methods, the optimum solutions can be obtained: easier controller design process for quadcopter control when crossing the determined trajectories, steady state error values less than 5% and a stable quadcopter movement with roll and pitch angle stabilization at position 0 radians with minimum energy function.

scholarly journals Research on Control Methods for the Pressure Continuous Regulation Electrohydraulic Proportional Axial Piston Pump of an Aircraft Hydraulic System

2019 ◽  
Vol 9 (7) ◽  
pp. 1376
Author(s):  
Peng Zhang ◽  
Yunhua Li
Keyword(s):  
Feedback Linearization ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
Piston Pump ◽  
Control Methods ◽  
Hydraulic Systems ◽  
Axial Piston Pump ◽  
Linear Quadratic ◽  
Delivery Pressure ◽  
Axial Piston

The objective of this paper is to design a pump that can match its delivery pressure to the aircraft load. Axial piston pumps used in airborne hydraulic systems are required to work in a constant pressure mode setting based on the highest pressure required by the aircraft load. However, the time using the highest pressure working mode is very short, which leads to a lot of overflow lose. This study is motivated by this fact. Pressure continuous regulation electrohydraulic proportional axial piston pump is realized by combining a dual-pressure piston pump with electro-hydraulic proportional technology, realizing the match between the delivery pressure of the pump and the aircraft load. The mathematical model is established and its dynamic characteristics are analyzed. The control methods such as a proportional integral derivative (PID) control method, linear quadratic regulator (LQR) based on a feedback linearization method and a backstepping sliding control method are designed for this nonlinear system. It can be seen from the result of simulation experiments that the requirements of pressure control with a pump are reached and the capacity of resisting disturbance of the system is strong.

scholarly journals Evaluation of Three Common Algorithms for Structure Active Control

2017 ◽  
Vol 7 (3) ◽  
pp. 1638-1646
Author(s):  
M. Sareban
Keyword(s):  
Fuzzy Control ◽  
Active Control ◽  
Control Method ◽  
Variable Mass ◽  
Structural Response ◽  
Linear Quadratic Regulator ◽  
Relative Displacement ◽  
Control Methods ◽  
Linear Quadratic ◽  
The Impact

Recently active structure controllers were considered to deal with the impact of earthquake forces and the result of the investigations provided multiple algorithms to calculate force control and many different ways to apply these forces on the structure. In this study, the efficiency and effectiveness of three methods (linear quadratic regulator, fuzzy logic and pole assigning) are investigated. In addition, three buildings with different height classes with an active tuned mass damper (ATMD) on the top floor are considered to compare the active control methods. Examples with known mass and stiffness and with variable mass are considered. The results show that all three control methods used for the ATMD device reduce the structural response. The fuzzy control method, caused a sharp decline in relative displacement of building floors up to 80%. But in LQR and pole allocation procedures the applied force is limited. The best performance of fuzzy control is for high-rise buildings. The three different methods of control are stable in different masses and even under a random change of floor masses, their effectiveness can be trusted.

Intelligent optimal controller design applied to quarter car model based on non-asymptotic observer for improved vehicle dynamics

2020 ◽  
pp. 095965182095883
Author(s):  
Maroua Haddar ◽  
Riadh Chaari ◽  
S Caglar Baslamisli ◽  
Fakher Chaari ◽  
Mohamed Haddar
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Operational Calculus ◽  
Algebraic Theory ◽  
Linear Quadratic Regulator ◽  
Active Suspension ◽  
Linear Quadratic ◽  
Model Based ◽  
The Stability ◽  
Proportional Derivative Controller

A novel active suspension control strategy is introduced to improve dynamic response of vehicle suspension systems. The proposed algorithm is a fusion of classical controller design methods together with an online observer and is based on the cancelation of system disturbances. The operational calculus method and the differential algebraic theory are applied to build the observer/compensator that is appended to the classical linear quadratic regulator. An ultra-local model based on linear algebraic rules is presented avoiding the use of a precise mathematical model while guaranteeing the stability of the overall system. Simplicity of implementation, low power demand and significant enhancement of active suspension performance are the observed features of the proposed controller. The numerical simulations illustrate the effectiveness and the robustness against sprung mass variation of the proposed control method compared to proportional–integral–derivative controller, intelligent proportional–derivative controller, linear quadratic regulator and active disturbance rejection—linear quadratic regulator.

A finite-time H-infinite adaptive fault-tolerant controller considering time delay for flutter suppression of airfoil flutter

2019 ◽  
Vol 234 (2) ◽  
pp. 293-307
Author(s):  
Gao Ming-Zhou ◽  
Chen Xin-Yi ◽  
Han Rong ◽  
Yao Jian-Yong
Keyword(s):  
Finite Time ◽  
Control Method ◽  
Controller Design ◽  
Fault Tolerant ◽  
Linear Matrix ◽  
Control Methods ◽  
Actuator Faults ◽  
Control Delay ◽  
Modeling Uncertainties ◽  
The Stability

To suppress airfoil flutter, a lot of control methods have been proposed, such as classical control methods and optimal control methods. However, these methods did not consider the influence of actuator faults and control delay. This paper proposes a new finite-time H∞ adaptive fault-tolerant flutter controller by radial basis function neural network technology and adaptive fault-tolerant control method, taking into account actuator faults, control delay, modeling uncertainties, and external disturbances. The theoretic section of this paper is about airfoil flutter dynamic modeling and adaptive fault-tolerant controller design. Lyapunov function and linear matrix inequality are employed to prove the stability of the proposed control method of this paper. The numeral simulation section further proves the effectiveness and robustness of the proposed control algorithm of this paper.

scholarly journals PID Control System on Brushless DC Motor for Quadcopter Balance

Jurnal INFORM ◽  
2021 ◽  
Vol 6 (2) ◽  
pp. 110-114
Author(s):  
Mochamad Mobed Bachtiar ◽  
Fernando Ardilla ◽  
Muhammad Faiz Hasbi ◽  
Iwan Kurnianto Wibowo
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Dc Motor ◽  
Unmanned Aircraft ◽  
Integrated System ◽  
Brushless Dc Motor ◽  
Test Results ◽  
Brushless Dc ◽  
Aerial Vehicle ◽  
Aircraft System

Unmanned Aerial Vehicle (UAV) is an unmanned aircraft system that is no longer a special need but has become a general need for the community, and one example is used to capture everyday moments through photos or videos from the air. Among the models of UAV aircraft is the quadcopter, where there is a flight controller that functions to fly the quadcopter by adjusting the speed of each motor. The flight controller that is often used today is the Pixhawk manufacturer. The Pixhawk module is an integrated system that the factory has provided, so it cannot be modified in terms of control and I/O. This research focuses on making an independent flight controller that can be used to fly a quadcopter. The control method that is implanted is Proportional Integral Derivative or commonly known as PID. The flight controller uses the PID control method to adjust each Brushless DC Motor (BLDC) speed to maintain stability while flying. From the test results, the quadcopter can fly stably with KP parameters of 2.5, KI of 0.6, and KD of 1.0. The response time in processing feedback is 3s.

scholarly journals Simulation of a Steam Injected Gas Turbine Plant Control System

1997 ◽  
Author(s):  
Shusheng Zang ◽  
Jaqiang Pan
Keyword(s):  
Gas Turbine ◽  
Flow Rate ◽  
Controller Design ◽  
Dynamic Performance ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Turbine Plant ◽  
Fuel Flow ◽  
Lqr Controller ◽  
Gas Turbine Plant

The design of a modern Linear Quadratic Regulator (LQR) is described for a test steam injected gas turbine (STIG) unit. The LQR controller is obtained by using the fuel flow rate and the injected steam flow rate as the output parameters. To meet the goal of the shaft speed control, a classical Proportional Differential (PD) controller is compared to the LQR controller design. The control performance of the dynamic response of the STIG plant in the case of rejection of load is evaluated. The results of the computer simulation show a remarkable improvement on the dynamic performance of the STIG unit.

scholarly journals Cross Regulation Reduced Optimal Multivariable Controller Design for Single Inductor DC-DC Converters

Energies ◽  
2019 ◽  
Vol 12 (3) ◽  
pp. 477 ◽  
Author(s):  
S. Augusti Lindiya ◽  
N. Subashini ◽  
K. Vijayarekha
Keyword(s):  
Pid Controller ◽  
Controller Design ◽  
Multiple Input Multiple Output ◽  
Linear Quadratic Regulator ◽  
Prototype Model ◽  
Linear Quadratic ◽  
Load Current ◽  
Practical Applications ◽  
Input Multiple Output ◽  
Single Input

Single Inductor (SI) converters with the advantage of using one inductor for any number of inputs/outputs find wide applications in portable electronic gadgets and electrical vehicles. SI converters can be used in Single Input Multiple Output (SIMO) and Multiple Input Multiple Output (MIMO) configurations but they need controllers to achieve good transient and steady state responses, to improve the stability against load and line disturbances and to reduce cross regulation. Cross regulation is the change in an output voltage due to change in the load current at another output and it is an added constraint in SI converters. In this paper, Single Input Dual Output (SIDO) and Dual Input Dual Output (DIDO) converters with applications capable of handling high load current working in Continuous Conduction Mode (CCM) of operation are taken under study. Conventional multivariable PID and optimal Linear Quadratic Regulator (LQR) controllers are developed and their performances are compared for the above configurations to meet the desired objectives. Generalized mathematical models for SIMO and MIMO are developed and a Genetic Algorithm (GA) is used to find the parameters of a multivariable PID controller and the weighting matrices of optimal LQR where the objective function includes cross regulation as a constraint. The simulated responses reveal that LQR controller performs well for both the systems over multivariable PID controller and they are validated by hardware prototype model with the help of DT9834® Data Acquisition Module (DAQ). The methodologies used here generate a fresh dimension for the case of such converters in practical applications.

scholarly journals System design for inverted pendulum using LQR control via IoT

2020 ◽  
Vol 11 ◽  
pp. 12
Author(s):  
Dechrit Maneetham ◽  
Petrus Sutyasadi
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Lqr Control ◽  
Lqr Controller ◽  
Model Tuning ◽  
And Performance ◽  
Performance Results ◽  
And Control

This research proposes control method to balance and stabilize an inverted pendulum. A robust control was analyzed and adjusted to the model output with real time feedback. The feedback was obtained using state space equation of the feedback controller. A linear quadratic regulator (LQR) model tuning and control was applied to the inverted pendulum using internet of things (IoT). The system's conditions and performance could be monitored and controlled via personal computer (PC) and mobile phone. Finally, the inverted pendulum was able to be controlled using the LQR controller and the IoT communication developed will monitor to check the all conditions and performance results as well as help the inverted pendulum improved various operations of IoT control is discussed.

Backstepping Controller Design for a 5 DOF Spherical Inverted Pendulum

2019 ◽  
Vol 41 ◽  
pp. 37-50 ◽  
Author(s):  
Soukaina Krafes ◽  
Zakaria Chalh ◽  
Abdelmjid Saka
Keyword(s):  
Degrees Of Freedom ◽  
Inverted Pendulum ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Performance Comparison ◽  
Virtual Reality Environment ◽  
Linear Quadratic ◽  
Control Scheme ◽  
Linearized System ◽  
Backstepping Controller

This paper presents a Backstepping controller for five degrees of freedom Spherical Inverted Pendulum. Since the system is nonlinear, unstable, underactuated and MIMO and has a nonsquare form, the classic control design cannot be applied to control it. In order to remedy this problem, we propose in this paper a new method based on hierarchical steps of the Backstepping controller taking into a count the nonlinearities that cannot be neglected. Furthermore, a Linear Quadratic Regulator controller and LQR + PID based on the linearized system model are also designed for performance comparison. Finally, a simulation study is carried out to prove the effectiveness of proposed control scheme and is validated using the virtual reality environment that proves the performance of the Backstepping controller over the linear ones where it brings the pendulum from any initial condition in the upper hemisphere while the base is brought to the origin of the coordinates.

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