Journal of Advanced Navigation Technology (한국항행학회논문지)

The Korean Navigation Institute (한국항행학회)
권호 표지
DOI QR코드

DOI QR Code

Application of SIMC Based Quad-rotor Cascade Control by Using 1-axis Attitude Control Test-bench

1축 자세제어실험 장비를 이용한 SIMC 기반 쿼드로터 Cascade 제어기 적용에 관한 연구

  • Choi, Yun-sung (Department of Aerospace Engineering, Pusan National University) ;
  • You, Young-jin (Department of Aerospace Engineering, Pusan National University) ;
  • Jeong, Jin-seok (Department of Aerospace Engineering, Pusan National University) ;
  • Kang, Beom-soo (Department of Aerospace Engineering, Pusan National University)
  • 최윤성 (부산대학교 항공우주공학과) ;
  • 유영진 (부산대학교 항공우주공학과) ;
  • 정진석 (부산대학교 항공우주공학과) ;
  • 강범수 (부산대학교 항공우주공학과)
  • Received : 2015.10.16
  • Accepted : 2015.12.23
  • Published : 2015.12.30
Download PDF
⟨ Previous Next ⟩

Abstract

This paper reports the single-input-single-output cascade control by using 1-axis attitude control test-bench for quad-rotor UAV. The test-bench was designed as a see-saw shape using 2 motors and propellers, and to enable changing the center of gravity with the center of gyration using ballast. The experiment was carried out by constructing a PID-PID controller having a cascade structure with the test-bench. The SIMC based PID gain tuning process, which makes PID gain tuning easy, was grafted to cascade control. To graft SIMC method, the system parameter estimation result was conducted with second order time delay model by using Matlab-Simulink. Gain tuning was conducted by simulating with estimated system parameter. In this paper, the conventional application of SIMC was conducted and improved application was proposed for improving stability at tuning process.

본 논문에서는 1축 자세제어실험 장비를 제작하여 쿼드로터 형 무인항공기에 적용할 단일입력-단일출력 Cascade 제어기 실험을 수행하였다. 해당 장비는 두 개의 모터와 프로펠러에 의해 자세변화가 가능한 시소 형태로 구현하였고, 무게 추를 변경하여 회전축을 중심으로 상하 무게중심 이동이 가능하도록 제작하였다. 개발한 장비를 통해 Cascade 구조를 가지는 PID(각도)-PID(각속도) 제어기를 구성하여 실험을 수행하였으며, PID 이득의 조정을 용이하게 하는 SIMC 제어기 이득 조정 기법을 Cascade 제어에 접목하였다. 이를 위해 Matlab-Simulink 환경 하에 2차 시간 지연 모델을 구축하여 시스템 변수 추정을 수행하였다. 기존의 SIMC 조정 기법 적용 과정을 수행하여 그 특성을 파악하고, 적용 과정의 안정성 문제를 고려하여 수정된 방안을 제시하였으며, 이를 1축 자세제어실험 장비에 적용하여 기존의 과정과 수정된 과정을 비교 실험하였다.

Keywords

References

  1. S. Skogestad, “Simple analytic rules for model reduction and PID controller tuning,” Journal of Process Control, Vol. 13, No. 4, pp. 291-309, June 2003. https://doi.org/10.1016/S0959-1524(02)00062-8
  2. K. J. Astrom and T. Hagglund, Advanced PID Control, International Society of Automation, 67 TW Alexander Dr, Research Triangle Park, NC 27709, USA, pp. 373-377, 2006.
  3. R. G. Franks and C. W. Worley, “Quantitative analysis of cascade control,” Industrial & Engineering Chemistry, Vol. 48, No. 6, pp. 1074-1079, June 1956. https://doi.org/10.1021/ie50558a034
  4. G. K. McMillan, "Effect of cascade control on loop performance," in IEEE American Control Conference, Arlington; VA, pp. 363-368, 1982.
  5. R. Czyba and G. Szafranski, "Control structure impact on the flying performance of the multi-rotor VTOL platform - design, analysis and experimental validation," International Journal of Advanced Robotic Systems, Vol. 10, No. 62, Jan. 2013.
  6. B. Godbolt and A. F. Lynch, "A novel cascade controller for a helicopter UAV with small body force compensation," in IEEE Proceeding of American Control Conference, Washington; DC, pp. 800-805, June 2013.
  7. J. B. Song, Autonomous control of quad rotor and quad tilt prop UAV with SIMC-based cascade control, Ph.D. dissertation, Pusan National University, Busan, Korea, 2015.
  8. H. Bolandi, M. Rezaei, R. Mohsenipour, H. Nemati, and S. Smailzadeh, “Attitude control of a quad-rotor with optimized PID controller,” Intelligent Control and Automation, Vol. 4, No. 3, pp. 335-342, 2013. https://doi.org/10.4236/ica.2013.43039
  9. D. E. Rivera, M. Morari, S. Skogestad, "Internal model control. 4. PID controller design," Industrial & Engineering Chemistry Process Design Development, Vol. 25, No. 1, pp 252-265, 1986. https://doi.org/10.1021/i200032a041

Cited by

  1. Application and Validation of Delay Dependent Parallel Distributed Compensation Controller for Rotary Wing System vol.44, pp.12, 2016, https://doi.org/10.5139/JKSAS.2016.44.12.1043