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http://dx.doi.org/10.12673/jant.2015.19.6.473

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

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)
Publication Information
Journal of Advanced Navigation Technology / v.19, no.6, 2015 , pp. 473-483 More about this Journal
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.
Keywords
Cascade control; Quad-rotor; Simple internal model control; Unmanned aerial vehicle; 1-axis test-bench;
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