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Supervising Control for Unmanned Aerial Vehicles

机译：无人机的监督控制

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摘要

A small UAV is considered as a test UAV, and its already published aerodynamic data is used for its modeling. Proportional Integral Differential (PID) controller is designed for pitch attitude control. Atmospheric disturbances such as wind shear and turbulence significantly influence the attitude of UAVs. For this study rotary gust is considered as atmospheric disturbance. Pitch response in presence of atmospheric disturbance is presented. In order to improve the performance in presence of atmospheric disturbance, a supervisory mechanism is proposed. Supervisory mechanism is composed of two modules, "observer module" and "correction generator module," The human thinking like logic is developed for observer module so that it keeps monitoring the status of flight through specified inputs and outputs from the system and instructs the correction generator module to augment main controller by adding compensation commands. Correction generator module works on fuzzy logic. Simulation results show significant reduction in pitch errors after augmenting the supervisory mechanism, hence proving the efficacy of proposed scheme.
机译：小型无人机被视为测试无人机，其已经发布的空气动力学数据用于建模。比例积分微分（PID）控制器设计用于俯仰姿态控制。诸如风切变和湍流之类的大气干扰极大地影响了无人机的姿态。在本研究中，旋转阵风被认为是大气干扰。提出了存在大气干扰时的音调响应。为了提高存在大气干扰时的性能，提出了一种监督机制。监督机制由“观察者模块”和“校正生成器模块”两个模块组成，为观察者模块开发了类似于逻辑的人类思维，以便它可以通过系统指定的输入和输出来监视飞行状态并指示校正生成器模块，通过添加补偿命令来增强主控制器。校正生成器模块基于模糊逻辑工作。仿真结果表明，在加强监督机制后，音调误差显着降低，从而证明了该方案的有效性。

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  • 来源
    《Mathematical Problems in Engineering》 |2013年第14期|564803.1-564803.9|共9页
  • 作者

    Saeed ur Rehman Sarwar; Saeed ur Rehman;

  • 作者单位

    Center for Advanced Studies in Engineering, 19 Ataturk Avenue, G-5/1, Islamabad, Pakistan;

    Center for Advanced Studies in Engineering, 19 Ataturk Avenue, G-5/1, Islamabad, Pakistan;

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