Root Locus Based Autopilot PID’s Parameters Tuning for a Flying Wing Unmanned Aerial Vehicle
DOI:
https://doi.org/10.5614/itbj.eng.sci.2008.40.1.2Abstract
This paper depicts the applications of classical root locus based PID control to the longitudinal flight dynamics of a Flying Wing Unmanned Aerial Vehicle, P15035, developed by Monash Aerobotics Research Group in the Department of Electrical and Computer Systems Engineering, Monash University, VIC, Australia. The challenge associated with our UAV is related to the fact that all of its motions and attitude variables are controlled by two independently actuated ailerons, namely elevons, as its primary control surfaces along with throttle, in contrast to most conventional aircraft which have rudder, aileron and elevator. The reason to choose PID control is mainly due to its simplicity and availability. Since our current autopilot, MP2028, only provides PID control law for its flight control, our design result can be implemented straight away for PID parameters' tuning and practical flight controls. Simulations indicate that a well-tuned PID autopilot has successfully demonstrated acceptable closed loop performances for both pitch and altitude loops. In general, full PID control configuration is the recommended control mode to overcome the adverse impact of disturbances. Moreover, by utilising this control scheme, overshoots have been successfully suppressed into a certain reasonable level. Furthermore, it has been proven that exact pole-zero cancellations due to derivative controls in both pitch and altitude loop to eliminate the effects of integral action -contributed by open loop transfer functions of elevon-average-to-pitch as well as pitch-to-pitch-rate- is impracticalDownloads
References
Santoso F., Liu M. & Egan G.K., and Robust Autopilot Synthesis for Longitudinal Flight of a Special Unmanned Aerial Vehicle: a Comparative Study, Institute of Engineering and Technology (IET) Control Theory and Applications, 2(7), July 2008, pp. 583-594, U.K., [http://www.ietdl.org/]. 2 H H
Santoso, F., Liu, M. & Egan, G., Optimal Control Linear Quadratic Synthesis for a UAV, Proceeding of Twelfth Australian International Aerospace Congress (AIAC-12), Melbourne, 19 -22 March 2007, also as MECSE-5-2007, Department of Electrical & Computer Systems Engineering, Monash University, 2006.
Santoso, F., Robot Aircraft Dynamics Model Identification and Autopilot Designs, Master's Thesis, Monash University, 2006.
Liu, M., Egan, G. & Ge, Y., Identification of Altitude Flight Dynamics for an Unconventional Aircraft, Proc. IEEE/RSS International Conference on Intelligent Robotic System (IROS06), Beijing, China, 2006.
Nasution, S.H, et.al, GPS-based Altitude and Flight Path Holding System for an Unmanned Aerial Vehicle. Aerospace Science and Technology Seminar, Jakarta, Indonesia, 21 September 2005.
Budiyono, A., Onboard Multivariable Controller Design for a Small Scale Helicopter Using Coefficient Diagram Method, International Conference on Emerging System Technology, Seoul, Korea 19-20 May 2005.
Fei-Bin Hsiao et al., Novel Unmanned Aerial Vehicle System with Autonomous Flight and Auto-Lockup Capability, 43rd AIAA Aerospace Sciences Meeting and Exhibit 10 - 13 January 2005, Reno, Nevada.
Turkoglu, K., Hinf Loop Shaping Robust Control vs. Classical PI(D) Control: A Case Study on the Longitudinal Dynamics of Hezarfen UAV, Proceedings of the 2nd WSEAS International Conference on Dynamical Systems and Control, Bucharest, Romania, October 16-17, 2006.
Al-Shamary, N., Robust and Gain Scheduled Flight Control Systems, Master of Engineering Science Thesis, Department of Electrical and Computer Systems Engineering, Monash University, 2001.
Kulcsar, B., LQG/LTR Controller Design for an Aircraft Model, Periodica Polytechhica Ser, Vol. 28, No. 1-2, pp 131-142, 2000.
Shahian, B., Hassul, M., Control System Design Using Matlab , Prentice Hall, Englewood Cliffs, New Jersey, 1993.
Hale, F., Introduction to Control System Analysis and Design, Prentice Hall, Englewood Cliffs, NJ, 1988.
Astrom, K., Automatic Control - the Hidden Technology, in: Advances in Control: highlights of ECC '99, Springer, New York, pp. 1-28, (Chapter 1), 1999.
Forsythe, W., Digital control: Fundamentals, Theory and Practice, 1st ed, Macmillan Education, London, 1991.
Franklin, G. F. et al., Digital Control of Dynamic Systems, Addison-Wesley Pub. Co., 1990.
Franklin, G. F, et al., Feedback Control of Dynamics Systems, Pearson Prentice Hall, NJ, 2006.
Nise, N., Control Systems Engineering, John Willey & Sons, Inc., fourth edition, 2004.
Dutton, K., et al., The Art of Control Engineering, Pearson Prenticed Hall, NJ, 1997.
Ogata, K., Modern Control Engineering, Prentice Hall, Englewood Cliffs, New Jersey, 1997.
Ogata, K., Discrete-Time Control Systems, Prentice Hall, Englewood Cliffs, New Jersey, 1987.
Ljung, L. and Soderstrom T., Theory and Practice of Recursive Identification, MIT Press, 1983.
Ljung, L., System identification toolbox for use with MATLAB, The MathWorks,Inc., 1991.
Ljung, L., System Identification: Theory for the Users, Prentice Hall, Englewood Cliffs, New Jersey, 1987.
Juang, J., Applied system identification, Prentice Hall, Inc., Englewood Cliffs, New Jersey, 1994.
Goodwin, G. C and Payne, R. L, Dynamic system identification: Experiment design and data analysis, Academic Press, INC London, LTD., 1977.
Sage, A. P. and Melsa, J. L., System Identification, Academic Press, INC London, LTD., 1971.
Eykhoff, P., System Identification: Parameter and State Estimation, John Wiley & Sons, 1974.
Mehra, R. K. and Lainiotis, D. G., System Identification Advances and Case Studies, Academic Press, INC. (London) LTD, 1976.
Bryson, A. J.R., Control of Spacecraft and Aircraft, Princeton University Press, NJ, 1994.
Stevens, L B. and Lewis, F., Aircraft Control and Simulation, John Wiley & Sons, Inc, 2nd edition, 2003.
Abzug, J. M., Larrabee, E. E., Airplane stability and control: a history of the technologies that made aviation possible.
Etkin, B., Dynamics of atmospheric flight, Dover Publications, Inc., 2000.
Cook, M.V., Flight dynamics principles, Arnold, London, 1997.
Pratt. R., Flight Control Systems: Practical Issues in Design and Implementation, The Institution of Electrical Engineers, UK, 2000.