Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller (CROSBI ID 656460)
Prilog sa skupa u zborniku | sažetak izlaganja sa skupa | međunarodna recenzija
Podaci o odgovornosti
Wojciech Giernacki ; Talar Sadalla ; Jarosław Gośliński ; Piotr Kozierski ; João P. Coelho ; Saša Sladić
engleski
Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller
In this paper the synthesis of a rotational speed closed-loop control system based on a fractional-order proportional-integral (FOPI) controller is presented. In particular, it is proposed the use of the SCoMR-FOPI procedure as the controller tuning method for an unmanned aerial vehicle's propulsion unit. In this framework, both the Hermite-Biehler and Pontryagin theorems are used to predefine a stability region for the controller. Several simulations were conducted in order to try to answer the questions - is the FOPI controller good enough to be an alternative to more complex FOPID controllers? In what circumstances can it be advantageous over the ubiquitous PID? How robust this fractional-order controller is regarding the parametric uncertainty of considered propulsion unit model?
fractional-order controller, speed controller, FOPI controller, linear BLDC motor model, propulsion unit, motor-rotor model, Hermite-Biehler and Pontryagin theorems
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
Podaci o prilogu
993-998.
2017.
objavljeno
10.1109/MMAR.2017.8046965
Podaci o matičnoj publikaciji
Methods and Models in Automation and Robotics (MMAR), 2017 22nd International Conference on
Frank Allgower
Międzybrodzie Żywieckie: Institute of Electrical and Electronics Engineers (IEEE)
978-1-5386-2402-9
Podaci o skupu
MMAR 2017- International Conference on Methods and Models in Automation and Robotics
predavanje
28.08.2017-31.08.2017
Międzyzdroje, Poljska