PID based controller design for attitude stabilization of Quad-rotor

Transcription

1 Australian Journal of Basic and Applied Sciences, 8(4) Special 24, Pages: -5 PID based controller design for attitude stabilization of Quad-rotor M. Hassan Tanveer, 2 D. Hazry, 3 S. Faiz Ahed, 4 M. Karan Joyo, 5 Faizan. A. Warsi, 6 Zuradzan M. Razlan, 7 Khairuniza Wan, 8 A.T. Hussain Center of Excellence Unanned Aerial Systes (COEUAS), Universiti Malaysia Perlis (UniMAP), Perlis, MAAYSIA. A R T I C E I N F O Article history: Received 2 Noveber 23 Received in revised for 24 January 24 Accepted 29 January 24 Available online 5 April 24 Keywords: Quad-rotor, Attitude Control, PID. A B S T R A C T This article presents a PID based control approach for stabilizing the attitude of quadrotor UAV during flying. To solve the stability proble of quad-rotor UAV, soe suitable and easy feedback control algorith can be used. In the standard Quad-rotor type UAV systes, controlling of attitude is one of the ost critical tasks and appropriate controller for stabilization of attitude is essential and necessary. So, in order to validate the unwanted disturbance rejection operation, a robust PID controller with feedback copensation is derived in this research artical. The results proved the effectiveness of control ethod for stabilizing attitude of quad-rotor. INTRODUCTION One of the proinent rotorcrafts, a UAV has been the area of interest aong the researchers in recent years. The quad-rotor is an unanned aerial vehicle (UAV) which has four propellers attached to four otors placed on a fixed body (Senkul, 23). A quad-rotor UAV has exceptional advantages with its size, weight and its siple echanical arrangeent (ee, 2). This is the ain reason that, nowadays these UAVs are wide used in various applications at inial cost and without endangering any risk to huan life (Burkle, 2). UAVs are inherently suitable for ilitary applications such as border patrolling, security intelligence, cartography, surveillance, cost guards, acquisition of targets (Hsu, 2) and (Chao, 2). UAVs have also penetrated in civilian applications such as search & rescue issions (Krerngkajornkit, 23), explorations (Caldeira, 23), security & surveying of oil pipe lines (Zhang, 23), forests on fire (Ferrell, 23). As a result the research counity has seen substantial iproveents in the design of controllers for these types of vehicles (Stowers, 2). Plenty of technical & distinctive issues are associated to quad-rotor that opened a way to a assive research work. A quad-rotor syste is a siple structure but nonlinear in nature which akes the controls very coplex and difficult. Researchers have been facing issues with controlling the attitude and tackling to the air disturbances while flying which is the ain concern in this article. The contribution is organized as follows: the odeling of the quad-rotor and controller design is done in section 2. Siulations and experiental results for the syste in closed-loop with the PID technique is presented in section 3. Concluding rearks are given in Section 4. MATERIA AND METHODS Equation is the overall dynaic syste representation and orientation of quad-rotor UAV which is extracted fro Newton-Eular ethod and discussed coprehensively in y previous article (M. Hassan Tanveer, 23). Corresponding Author: M. Hassan Tanveer, Center of Excellence Unanned Aerial Systes (COEUAS), Universiti Malaysia Perlis (UniMAP), Perlis, MAAYSIA.

2 2 X = sin ψ sin ϕ + cos ψ sin θ cos ϕ U Y = ( cos ψ sin ϕ + sin ψ sin θ cos ϕ) U Z = g + cos θ cos ϕ U ϕ = θ = ψ = θ ψ U 4 θ ω + U 2 θ ω + U 3 () In this article under the disturbance condition, PID controller technique is proposed for appropriate attitude controlling of quad-rotor. The plant dynaics are presented in equation (2) which are chosen fro equation (). For controlling of quad-rotor s attitude, all three angles which are roll, pitch and yaw are used for controller desiging. ϕ = θ = θ Ω + l U 2 θ Ω + l U 3 (2) ψ = θ ψ l U 4 The ain objective of this research is to design Controller which akes quad-rotor stable under the circustances of disturbance. In order to deal with this ajor issue an appropriate PID Controller is presented in this paper for aking the syste stabilize under the distubance condition. The PID control is tuned by auto-tuning ethod and its range between to for all paraeters. Attitude Stabilization Controller: The feedback signal cobined with reference signal and produces error signal which goes to PID control block as shown in fig.(). For Quad-rotor attitude controlling only orientation angles i.e pith, roll and yaw are controlled. The quad-rotor dynaics ust be siplified. There are soe of the ters that can be neglected which are gyroscopic torque and Coriolis-centripetal as entioned in (Bresciani, 28). Fig. : Control Syste ϕ θ ψ After neglecting the ters in equation (2), the equation becoes: = I xx u 2 I yy u 3 I zz u 4 (3)

3 3 By applying aplace Transfor on equation (3), the transfer function of quad-rotor plant s attitude which are roll, pitch and yaw obtained separately as equation (4). ϕ(s) u 2 (s) = I xx s 2 (3) θ(s) u 3 (s) = I yy s 2 ψ(s) u 4 (s) = I zz s 2 So for its controller designing, the error signals e ϕ, e θ, e ψ will be: e ϕ = ϕ ref ϕ e θ = θ ref θ e ψ = ψ ref ψ (4) For Roll angle controlling, following equation will be take in account. ϕ S = lu 2 I xx S 2 (5) After evaluating roll with rotor dynaics K given in equation (5) the above eq becoes: ϕ S = K 2 l I xx S 2 S+ 2U (6) ϕ S = K S 4 + S 3 + S 2 U The PID equation is PID = K p e S + K i S e S + SK de S (7) After applying PID to the syste the eq for attitude stabilization of roll becoes ϕ = e S S 2 K d K + SK p K + K i K S 5 + S 4 + S 3 + S 2 K d K + SK p + K i K U (8) Siilarly for other angles of attitude (i.e: pitch and yaw), can obtain by sae above entioned proposed ethod. RESUT AND DISCUSSION The siulation result presented in this section expose the effectiveness of controller to stabilize the quad-rotor attitude and altitude under disturbance conditions. The closed loop syste behaviors are analyzed while hovering in the presence of unknown disturbance injected on attitude of quad-rotor. During siulation in proposed PID controller, set points is set for each attitude angle (Yaw, Pitch and Roll) for aintaining Quad-rotor attitude under disturbance conditions.

4 4 A coparison is being done for evaluating the effectiveness of proposed controller. Fig. 2 and Fig. 3 deonstrates, that disturbance is added on Roll angle aong different interval of tie with the controller effect of PD and PID respectively. Table shows the response results of both controller for coplete attitude stabilization of quad-rotor. These results proved that, the proposed PID controller work very well and easily handled the disturbance condition and quickly stabilized the quad-rotor attitude. The auto-tuned chosen PID Paraeters for attitude controller are Kp =.98, Ki =.9, Kd = Disturbance PD controller PDEffect PD controller Offset= (seconds) Fig. 2: Disturbance and Effect of PD controller on Roll angle Disturbance.8 PID controller PIDEffect PID controller.5..5 Offset= (seconds) Fig. 3: Disturbance and its effect of PID controller on Roll angle Table : Disturbance and its effect on PID and PD controller in Roll angle Controller Overshoot Reference Settling Tie PD 3.25 % 2.2 sec PID 2.2 %.6 sec Conclusion: The overall outcoe of siulation shows the result of proposed PID controller for attitude stabilization of quad-rotor UAV syste under disturbance condition. The paraeters of PID controller are selected by auto-tune ethod. Fro the siulation results, it is proved that the effectiveness of the control ethod is verified and the controller has offered to return the entire syste to stabilize the situation where there is any kind of disturbance iposed on quad-rotor.

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