Kajian Eksperimen Teknik Kontrol Penerbangan Posisi Tinggal Landas Drone Bikopter dengan Metode PID

Agmal

et al. 2022

Jurnal Teknik Elektro

Building unmanned aerial vehicle (UAV) control system models are highly challenging due to multiple inputs and multiple outputs (MIMO). Not only does it have various angular position outputs such as roll, yaw, and pitch, but also flight control has more than one input; for instance, a bicopter has dual rotors. More rotors have more complex model. The hover condition has a zero resultant force which can be utilized to design a system model. On the other hand, an attractive identification system method is applied to develop the design. This research aims to evaluate the performance of two MIMO design on bicopter between methods based on the hover principle and identification technique. Experimental validation by employing bicopter simulator is an excellent strategy to fulfil this purpose. The results of the investigation of the experiment showed that the identification model was more accurate than the hover design, particularly regarding the overshot phenomenon and error. In addition, the hover principle tended to build ideal model because it did not include the dynamic, uncertainty and nonlinear conditions in aeroplane control design. Although the identification system was complicated because it previously needed to measure the input and output values, it performed closer to the actual experiment. It performed more satisfactory overshoot values compared with the experimental validation than the hover model by 1°, 3°, and 8° in roll, pitch, and yaw angles, respectively.

Section: ()mentioning

confidence: 99%

Section: ()mentioning

confidence: 99%

See 1 more Smart Citation

Performance Evaluation of Two System Models for a MIMO System to Hover the Bicopter Unmanned Aerial Vehicle

Agmal

et al. 2022

Jurnal Teknik Elektro

“…Metode kontrol kalang tertutup PID [14] yang telah popular di dunia pendidikan dan industri akan diterapkan dalam eksperimen ini dalam merancang model sistem kontrol. Tujuan penelitian ini adalah untuk mendapatkan model dengan akurasi terbaik dengan mengkaji perbandingan perumusan teori dan identifikasi model teknik kontrol kecepatan sudut motor DC.…”

Section: Pendahuluanunclassified

Kajian Identifikasi Model Eksperimen pada Kontrol Kecepatan Motor DC

Suryadi

et al. 2021

joki

Self Cite

Motor arus searah atau Direct Current (DC) masih banyak digunakan dalam industri, pendidikan, penelitian bahkan dalam peralatan rumah tangga. Pengembangan teknik kontrol kecepatan motor DC dengan berbagai teori kontrol baik persektif adaptif maupun robust menantang untuk dilakukan. Model sistem kontrol kecepatan motor DC yang akurat perlu diteliti baik teori dan eksperimen. Fasilitas QUBE-Servo 2 dapat mengimplementasikan kajian pemodelan sistem kontrol tersebut terutama secara eksperimen. Data eksperimen tegangan listrik dan kecepatan sudut motor dapat dimanfaatkan untuk identifikasi model sistem kontrolnya yang dapat dibandingkan dengan teori motor DC dari data spesifikasi motor terkait. Tujuan penelitian ini adalah untuk mempelajari metode identifikasi model sistem kontrol kecepatan sudut pada motor DC guna mendapatkan model yang paling akurat. Hasil eksperimen teknik kalang tertutup Proportional-Integral-Derivative (PID) menunjukkan bahwa model perumusan teori motor DC berbeda terutama fenomena overshoot dan fluktuasi pada tahap responnya. Fungsi transfer dari hasil identifikasi model berpangkat 2 lebih mendekati hasil eksperimen yang cenderung tidak linear daripada pangkat yang lebih rendah. Pemanfaatkan metode sistem identifikasi dalam merancang model berbasis data eksperimen memiliki akurasi baik sehingga layak digunakan dalam pengembangan dan optimalisasi teknik kontrol kecepatan motor DC.

“…Moreover, this type has more advantages than fixed wings UAVs in smaller landing areas [7]. Bicopter is a helicopter-type with two rotors on both arms for its maneuver, which is famously implemented by the Chinook helicopter [8]. The plant of 3 DOF helicopters for the laboratory, which Quanser Consulting Inc. develops, is a useful experimental tool to test the flight control method strategies for the bicopter model [9].…”

Section: Introductionmentioning

confidence: 99%

Experimental studies of linear quadratic regulator (LQR) cost matrices weighting to control an accurate take-off position of bicopter unmanned aerial vehicles (UAVs)

Wang

J. Mechatron. Electr. Power Veh. Technol.

et al. 2022

Controller design for airplane flight control is challenged to achieve an optimum result, particularly for safety purposes. The experiment evaluated the linear quadratic regulator (LQR) method to research the optimal gain of proportional-integral-derivative (PID) to hover accurately the bicopter model by minimizing error. The 3 degree of freedom (DOF) helicopter facility is a suitable bicopter experimental simulator to test its complex multiple input multiple output (MIMO) flight control model to respond to the challenge of multipurpose drone control strategies. The art of LQR setting is how to search for appropriate cost matrices scaling to optimize results. This study aims to accurately optimize take-off position control of the bicopter model by investigating LQR cost matrices variation in actual experiments. From the experimental results of weighted matrix variation on the bicopter simulator, the proposed LQR method has been successfully applied to achieve asymptotic stability of roll angle, although it yielded a significant overshoot. Moreover, the overshoot errors had good linearity to weighting variation. Despite that, the implementation of cost matrices is limited in the real bicopter experiment, and there are appropriate values for achieving an optimal accuracy. Moreover, the unstable step response of the controlled angle occurred because of excessive weighting.