| Issue |
MATEC Web Conf.
Volume 277, 2019
2018 International Joint Conference on Metallurgical and Materials Engineering (JCMME 2018)
|
|
|---|---|---|
| Article Number | 01008 | |
| Number of page(s) | 11 | |
| Section | Metallurgy & Control and Manufacturing | |
| DOI | https://doi.org/10.1051/matecconf/201927701008 | |
| Published online | 02 April 2019 | |
Auto-tuning for cascade PID height position controller of rotorcraft
1
Department of Instrument Science and Engineering, Shanghai Jiao Tong University, China
2
Key Laboratory of Aerospace Intelligent Control Technology, Shanghai, China
* Corresponding author: guiqiu@sjtu.edu.cn
In this article, we present a method for tuning controller parameters for cascade PID based on the step response performance characteristics of a closed loop system with application to an unmanned aerial vehicle(UAV). With specifically designed system identification procedures, a neural network mapping is obtained automatically when the UAV is flying around the target height. With this network system model, a gradual regression and optimization algorithm is proposed to tune the controller. The regression model primly illustrated the relation between PID parameters with controller performance, and the construction for optimization cost function takes the physical significance of step response performance of flying machine into account. Experimental data collected from fight experiment when auto-tuner is implemented on a quadrotorcraft demonstrate the efficiency of the proposed method.
© The Authors, published by EDP Sciences, 2019
This is an Open Access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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