• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Journal of Mechanical Science and Technology >Experimental study on cascaded attitude angle control of a multi-rotor unmanned aerial vehicle with the simple internal model control method
【24h】

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

机译：简单内模控制方法的多旋翼无人机级联姿态角控制实验研究

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper proposes a cascaded control structure and a method of practical application for attitude control of a multi-rotor Unmanned aerial vehicle (UAV). The cascade control, which has tighter control capability than a single-loop control, is rarely used in attitude control of a multi-rotor UAV due to the input-output relation, which is no longer simply a set-point to Euler angle response transfer function of a single-loop PID control, but there are multiply measured signals and interactive control loops that increase the complexity of evaluation in conventional way of design. However, it is proposed in this research a method that can optimize a cascade control with a primary and secondary loops and a PID controller for each loop. An investigation of currently available PID-tuning methods lead to selection of the Simple internal model control (SIMC) method, which is based on the Internal model control (IMC) and direct-synthesis method. Through the analysis and experiments, this research proposes a systematic procedure to implement a cascaded attitude controller, which includes the flight test, system identification and SIMC-based PID-tuning. The proposed method was validated successfully from multiple applications where the application to roll axis lead to a PID-PID cascade control, but the application to yaw axis lead to that of PID-PI.
机译：提出了一种多旋翼无人机姿态控制的级联控制结构和实际应用方法。级联控制比单环控制具有更严格的控制能力，由于输入输出关系，它很少用于多旋翼无人机的姿态控制，而不再只是欧拉角响应传递的设定点功能具有单回路PID控制的功能，但存在多个测量信号和交互式控制回路，这增加了常规设计方式的评估复杂性。但是，在这项研究中提出了一种方法，该方法可以优化具有主回路和副回路以及每个回路的PID控制器的级联控制。对当前可用的PID调整方法的研究导致选择基于内部模型控制（IMC）和直接综合方法的简单内部模型控制（SIMC）方法。通过分析和实验，本研究提出了一种实现级联姿态控制器的系统程序，包括飞行试验，系统辨识和基于SIMC的PID整定。所提出的方法已在多个应用中得到了成功验证，其中滚动轴的应用导致PID-PID级联控制，而偏航轴的应用导致PID-PI。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号