대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2001년도 하계학술대회 논문집 D
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- Pages.2470-2472
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- 2001
퍼지 동조 PID 제어기를 이용한 모형 헬리콥터의 개선된 3자유도 자세제어
Improved 3-DOF Attitude Control of a Model Helicopter using Fuzzy-Tuning PID Controller
- Park, Mun-Soo (Dept. of Electronics Eng. Ajou Univ.) ;
- Park, Duck-Gee (Dept. of Electronics Eng. Ajou Univ.) ;
- Jung, Won-Jae (Dept. of Electronics Eng. Ajou Univ.) ;
- Kim, Byung-Do (Dept. of Electronics Eng. Ajou Univ.) ;
- Hong, Suk-Kyo (School of Electronics Eng. Ajou Univ.)
- 발행 : 2001.07.18
초록
This paper describes the application of a fuzzy-tuning PID controller to a 3-DOF attitude control of a small model helicopter in hover for the compensation of coupling effects between each axis and system uncertainties due to the variation of engine RPM. A Low-level PID controller is designed by Ziegler-Nichols method and its gains are tuned by a high-level fuzzy system based on error states and its time derivatives. The experimental results show that the attitude control performance of fuzzy-tuning PID controller is improved comparing with that of a Ziegler-Nichols PID controller and fuzzy controller.
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