Modeling, system identification and PID-A controller for tethered unmanned quad-rotor helicopter

Tarek N. Dief, Mohamed M. Kamra, S. Yoshida
{"title":"Modeling, system identification and PID-A controller for tethered unmanned quad-rotor helicopter","authors":"Tarek N. Dief, Mohamed M. Kamra, S. Yoshida","doi":"10.15866/IREASE.V10I4.12589","DOIUrl":null,"url":null,"abstract":"In this paper, a strategy for the preliminary design of Quad-Rotor problem with emphasis on utilizing system identification methods for system modeling. The algorithm of forgetting least square is applied for the realtime prediction of the system parameters. The presented strategy is applied to the mass-varying tethered Quad-Rotor. The presented system identification method provides the model parameters while the adaptive (Proportional, Integral, Derivative, and Accelerator) PID-A controller controls the system response in real-time flight. In this paper, a mathematical model for the Quad-Rotor is derived. The sensitivity analys is of the system is provided in detail. Then, a system identification algorithm is applied to study the change in parameters during flight. PID-A controller is designed to stabilize the system with mass-varying consideration. Finally, Simulation results of the full system are presented.","PeriodicalId":14462,"journal":{"name":"International Review of Aerospace Engineering","volume":"24 1","pages":"215-223"},"PeriodicalIF":0.0000,"publicationDate":"2017-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Review of Aerospace Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.15866/IREASE.V10I4.12589","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

Abstract

In this paper, a strategy for the preliminary design of Quad-Rotor problem with emphasis on utilizing system identification methods for system modeling. The algorithm of forgetting least square is applied for the realtime prediction of the system parameters. The presented strategy is applied to the mass-varying tethered Quad-Rotor. The presented system identification method provides the model parameters while the adaptive (Proportional, Integral, Derivative, and Accelerator) PID-A controller controls the system response in real-time flight. In this paper, a mathematical model for the Quad-Rotor is derived. The sensitivity analys is of the system is provided in detail. Then, a system identification algorithm is applied to study the change in parameters during flight. PID-A controller is designed to stabilize the system with mass-varying consideration. Finally, Simulation results of the full system are presented.
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
系留四旋翼无人直升机建模、系统辨识及PID-A控制器
本文提出了四旋翼问题的初步设计策略,重点是利用系统辨识方法进行系统建模。采用遗忘最小二乘算法对系统参数进行实时预测。将所提出的策略应用于变质量系留四旋翼。提出的系统辨识方法提供模型参数,而自适应PID-A控制器(比例、积分、导数和加速)控制系统在实时飞行中的响应。本文建立了四旋翼飞行器的数学模型。对系统进行了详细的灵敏度分析。然后,应用系统辨识算法研究飞行过程中参数的变化。PID-A控制器的设计考虑了系统的变质量稳定性。最后给出了整个系统的仿真结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
求助全文
约1分钟内获得全文 去求助
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Numerical Analysis of Reduced Frequency on Flapping Tandem Foils Numerical Study on Aerodynamics Characteristics of R-HAN122 Along with Nose Modification Some Results of the Mobile Space Testing Facility Metamorphosis Prototype Design, Development and Test The System of Rotor Blade Tip’s Illumination for Unmanned Aerial Vehicles Aerodynamic Performance and Stability of a Transonic Axial Compressor Stage with an Airfoil Vortex Generator
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1