Будь ласка, використовуйте цей ідентифікатор, щоб цитувати або посилатися на цей матеріал: http://er.nau.edu.ua/handle/NAU/37220
Назва: Setting the PID Controller for Controlling Quadrotor Flight: a Gradient Approach
Автори: Kucherov, Dmytro Pavlovcih
Kucherov, Dmytro P.
Kucherov, D.
Кучеров, Дмитро Павлович
Кучеров, Д.П.
Кучеров, Дмитрий Павлович
Ключові слова: PID controller
UAV
Дата публікації: гру-2018
Видавництво: IEEE, National Aviation University
Короткий огляд (реферат): The paper deals with the design of an autopilot for a quadrotor based on a PID controller. A mathematical description of the control object in form of the system of second-order differential equations is also presented. Setting the parameters of the PID controller is an iterative procedure. The paper investigates three optimal tuning algorithms based on minimizing the quality integral: coordinate descent, gradient descent, and steepest descent. During the research, a number of advantages of the gradient search algorithm are established. Gradient search is used as the main design method; on its basis, the autopilot model is synthesizing. Some simulation results are presented, which are confirmed by the Simulink autopilot model.
Опис: The paper deals with the design of an autopilot for a quadrotor based on a PID controller. A mathematical description of the control object in form of the system of second-order differential equations is also presented. Setting the parameters of the PID controller is an iterative procedure. The paper investigates three optimal tuning algorithms based on minimizing the quality integral: coordinate descent, gradient descent, and steepest descent. During the research, a number of advantages of the gradient search algorithm are established. Gradient search is used as the main design method; on its basis, the autopilot model is synthesizing. Some simulation results are presented, which are confirmed by the Simulink autopilot model.
URI (Уніфікований ідентифікатор ресурсу): http://er.nau.edu.ua/handle/NAU/37220
ISBN: 978-1-5386-5869-7
Розташовується у зібраннях:Наукові статті кафедри КСУ

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