Perturbation Rejection Controller Design for UAV's Control Surfaces

Z. A. Rashid, S. F. S. Dardin, A. A. Azid, Khairol Amali Bin Ahmad
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引用次数: 0

Abstract

This paper will discuss on strategies in designing a perturbation rejection controller for UAV control surfaces. It begins with identifying the natural characteristic of the control surfaces, then the design of the controller and finally the implementation of the controller. The control surfaces were modeled with a first order transfer function with the fitting percentage over 88% and the controller was designed using suitable pole placement with integrator and feedback gain method. The results show that the controller was successfully implemented into a microcontroller while maintaining the settling time characteristic of the open loop model and with a damping ratio of 0.707. The implemented controller was tested and proven the ability to reject perturbation by evaluating the force acting on the control surface.
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无人机控制面的抗扰控制器设计
本文讨论了无人机控制面抗扰控制器的设计策略。首先确定控制面的自然特性,然后设计控制器,最后实现控制器。控制面采用拟合率大于88%的一阶传递函数建模,控制器采用合理的极点配置和积分增益反馈方法设计。结果表明,该控制器在保持开环模型的稳定时间特性和阻尼比为0.707的情况下成功地实现在单片机中。对所实现的控制器进行了测试,并通过评估作用在控制面上的力来证明其抑制摄动的能力。
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