This paper presents a proportional-integral-derivative (PID) flight controller for a quadrotor micro air vehicle (MAV). The MAV (Parrot Mambo minidrones) is small, therefore, a slight perturbation will affect its performance. Hence, for the actuated dynamics, roll (ϕ), pitch (θ), yaw (ψ), and z stabilization, a PID control scheme is proposed. Furthermore, the same controller technique is also applied for under-actuated dynamics x and y position control. The newtonian model is simulated using simulink with a normal Gaussian noise of force as external disturbances. using simulink support package for Parrot Minidrones by MATLAB and based on the simulation parameter, the algorithm is deployed using Bluetooth® Low energy connection via personal area network (PAN). A slight force by hand is applied as perturbation during hovering to investigation system performances. Finally, the simulation and experimental on this commercial MAV, Parrot Mambo minidrones shows good performance of the flight controller scheme in the presence of external disturbances.

https://www.beei.org/index.php/EEI/article/download/2158/1568

Simulation and experimental study on PID control of a quadrotor MAV with perturbation

In electric drive control systems, the main goal is to maintain the driving motor speed to meet the mechanism’s requirements. In some practical industrial applications the mechanically-coupled load to the motor shaft has a varying mass during the system operation. Therefore, the change of mass changes the value of the moment of inertia of the system. The moment of inertia impacts the system operation, particularly the transient performance. Therefore, the variation of moment of inertia on the motor shaft during its operation creates additional challenges to accomplish a high-quality speed control. The main purpose of the current work is to study the impact of the variation of moment of inertia on the performance of both AC and DC electric drive control systems and to make a comparison between them. A mathematical analysis and simulations of the control system models had been presented; one time with three-phase induction motor and another time with DC motor, both with variable moment of inertia. A simulation of both systems had been accomplished using the Simulink software in MATLAB. The simulation results of operation of these systems have been analysed in order to get useful conclusions and recommendations for the electric drive control system designer.

https://www.beei.org/index.php/EEI/article/download/2768/2104

A comparative study of performance of AC and DC electric drive control systems with variable moment of inertia

The most common fault in the distribution network is the single line to ground fault (SLGF). With earthling in the distribution network, it causes electrical arc as well as a high voltage in the faulted phase compared to other two healthy phases. It increases the danger of separation and isolation in the power network. One of the classical technique to control the arc is through Peterson Coil (PC), which detects and turns off/reduces the electrical arc making the network safer, increasing its reliability and device's safety. To control the PC, some of the techniques used in this research area are PID, FL, NN etc. This paper presents Adaptive Neural-Fuzzy Inference System (ANFIS) technique to controlling the PC. It gives the best results by detecting the fault, reducing the electrical arc and minimizing the fault current to the rated current in a very short time. Moreover, this research focuses on suppressing fault current by looking at its higher and lower peaks. Also, it calculates the opposing inductance to compensate the capacitance caused. It will save thousands of tons of copper costs. This research was conducted using MATLAB. For the validity of the proposed technique results, PID control technique was used.

https://ijai.iaescore.com/index.php/IJAI/article/download/20503/12968

Optimization of detection of single line to ground fault by controlling peterson coil through ANFIS

This paper proposes a new approach for robust nonlinear proportional derivative (PD) controller. In this approach a nonlinear function (sigmoid) is added to the conventional proportional integral derivative (PID) controller with filtering for the derivative, in order to improve system response and to reduce the effects of the nonlinearity and uncertainty due to variations of hydrodynamic coefficients of ship with the speed. The gains of nonlinear PD controller are tuned by applying particle swarm optimization (PSO) technique. The simulated results by MATLAB program give satisfactory performance with regard to maximum overshoot, settling time and zero steady state error for step, ramp and proposed trajectory as input to the system. The robustness of the autopilot was checked by changing the plant parameters and adding disturbance to the plant input. The used autopilot is nonlinear PD controller because the gain of integral term by PSO is approximately zero which simplifies the controller construction. The results show that the proposed controller has superior transient response and robustness on the conventional PID designed by using symmetrical optimum criterion with pole assignment technique.

https://ijai.iaescore.com/index.php/IJAI/article/download/20514/pdf

Robust nonlinear PD controller for ship steering autopilot system based on particle swarm optimization technique

This paper presents a Sliding Mode Controller (SMC) with Tanh function for position and attitude stabilization of a quadrotor micro aerial vehicle (MAV). Since this MAV weighs less than 0.1 kg, even minor changes in its environment will affect its performance. Hence a robust controller for position $$x$$ , $$y$$ , $$z$$ , and attitude $$\phi$$ , $$\theta$$ , and $$\psi$$ is required. The nonlinearity factor is used to construct the dynamic quadrotor model, and the Lyapunov stability function is then used to verify and guarantee the proposed control scheme. To evaluate the robustness of the proposed control method, the dynamic model was simulated in MATLAB Simulink both with and without external disturbance. In addition, the proposed control approach is compared to the PID control scheme in terms of integral square error (ISE). The results show that sliding mode control utilizing the tanh function has excellent performance and resilience against perturbation at par with PID. 

Position and Attitude Control of Quadrotor MAV Using Sliding Mode Control with Tanh Function

Hovercraft is a method of transportation as an option for clients who remain on the waterway and swamp surface. The issue with hovercraft is when dubious climate and natural condition, e.g. wind speed and wave tallness exasperate solidness of hovercraft to jeopardise the driver. We propose an approach to keep up adjust of the hovercraft by controlling the focal point of gravity (PG) to be determined position. The controller monitors the position of load to change the position. A 6-DOF IMU Sensor MPU 6050 was utilised to create information as an examination with setpoint. PID control strategy was employed. The test outcome demonstrates that the model of air cushion vehicle could keep its adjust the axis orientation of the roll in spite of the fact that it was less compelling in the pitch pivot direction.

https://www.beei.org/index.php/EEI/article/download/864/981

Bhaskara Rao. Yenugula

Papers

Stability Control Structure of Hovercraft Prototype Utilising PID Controller