Internal Model Control Tuned Proportional Integral Derivative for Quadrotor Unmanned Aerial Vehicle Dynamic Model

An analytical design for proportional integral derivative (PID) controller cascaded with a fractional-order filter is proposed for first-order unstable processes with time delay. The design algorithm is based on the internal model control (IMC) paradigm. A two degrees-of-freedom (2DOF) control structure is used to improve the performance of the closed-loop system. In the 2DOF control structure, an integer order controller is used to stabilize the inner-loop, and a fractional-order controller for the stabilized system is employed to improve the performance of the closed-loop system. The Walton–Marshall's method, which is applicable to quasi-polynomials, is then used to establish the internal stability condition of the closed-loop system (the fractional part of the controller in particular) and to seek the set of stabilizing proportional (P) or proportional-derivative (PD) controller parameters.

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Real-time application of IMC-PID-FO multi-loop controllers on the coupled tanks process

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651820983062 ◽

2021 ◽

pp. 095965182098306

Author(s):

Tassadit Chekari ◽

Rachid Mansouri ◽

Maamar Bettayeb

Keyword(s):

Real Time ◽

Fractional Order ◽

Internal Model ◽

Time Windows ◽

Nonlinear Behavior ◽

Internal Model Control ◽

Proportional Integral Derivative ◽

Proportional Integral ◽

Model Control ◽

Reduction Effect

The coupled tanks process is a two input-two output system. It presents a nonlinear behavior and interactions characteristic. After the nonlinear model is obtained, it is linearized around an operating point. A fractional-order proportional–integral–derivative based on the internal model control paradigm (1DOF-IMC-PID-FO) multi-loop controller is determined without considering the interactions, and a fractional-order proportional–integral–derivative based on the 2-degree-of-freedom internal model control structure (2DOF-IMC-PID-FO) multi-loop controller is determined by considering the interactions. Thus, an interactions reduction effect controller is calculated. Both controllers are implemented on a real-time process using the Real Time Windows Target of MATLAB. The objective of the control is to maintain the water level in the lower tanks at desired values. In the experiment, setpoint tracking and disturbance rejection tests are carried out to assess the performance of both 1DOF and 2DOF-IMC-PID-FO multi-loop controllers.

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Optimised control using proportional-integral-derivative controller tuned using internal model control

International Journal of Electrical and Computer Engineering (IJECE) ◽

10.11591/ijece.v10i3.pp2452-2462 ◽

2020 ◽

Vol 10 (3) ◽

pp. 2452

Author(s):

B. Mabu Sarif ◽

D. V. Ashok Kumar ◽

M. Venu Gopala Rao

Keyword(s):

Pid Controller ◽

Time Delays ◽

Internal Model ◽

Discrete Systems ◽

Internal Model Control ◽

Tuning Parameter ◽

Continuous Systems ◽

Proportional Integral Derivative ◽

Proportional Integral ◽

Model Control

Time delays are generally unavoidable in the designing frameworks for mechanical and electrical systems and so on.. In both continuous and discrete schemes, the existence of delay creates undesirable impacts on the under-thought which forces exacting constraints on attainable execution.The presence of delay confounds the design structure procedure also. It makes continuous systems boundless dimensional and also extends the readings in discrete systems fundamentally. As the Proportional-Integral-Derivative (PID) controller based on internal model control is essential and strong to address the vulnerabilities and aggravations of the model. But for an real industry process, they are less susceptible to noise than the PID controller.It results in just one tuning parameter which is the time constant of the closed-loop system λ, the internal model control filter factor.It additionally gives a decent answer for the procedure with huge time delays. The design of the PID controller based on the internal model control, with approximation of time delay using Pade’ and Taylor’s series is depicted in this paper. The first order filter used in the design provides good set-point tracking along with disturbance rejection.

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Experimental study on cascaded attitude angle control of a multi-rotor unmanned aerial vehicle with the simple internal model control method

Journal of Mechanical Science and Technology ◽

10.1007/s12206-016-1035-3 ◽

2016 ◽

Vol 30 (11) ◽

pp. 5167-5182 ◽

Cited By ~ 9

Author(s):

Jun-Beom Song ◽

Young-Seop Byun ◽

Jin-Seok Jeong ◽

Jeong Kim ◽

Beom-Soo Kang

Keyword(s):

Experimental Study ◽

Unmanned Aerial Vehicle ◽

Internal Model ◽

Control Method ◽

Internal Model Control ◽

Attitude Angle ◽

Model Control ◽

Aerial Vehicle

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

Jurnal Teknologi Dirgantara ◽

10.30536/j.jtd.2017.v0.a2760 ◽

2018 ◽

Vol 15 (2) ◽

pp. 93 ◽

Cited By ~ 1

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.

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