Modeling, simulation and control of propeller driven seesaw system with asymmetric geometry using PID controller
Abstract
Various algorithms are used to control modern unmanned aerial systems. However, thanks
to the simplicity of application, the most commonly used control algorithm for aircraft but also
for other dynamic systems in various industries is the PID (Proportional, Integral, Derivative)
controller. For the proper response of the system and fast stabilization during the action of
certain disturbances during its operation, it is necessary to precisely adjust the parameters of
the PID controller. This paper presents a mathematical model of a seesaw system for which a
PID control simulation was performed for different asymmetric geometries. Asymmetric
geometry implies different positions of the rotor relative to the axis of system rotation, as well
as when the rotor disks do not lie in the same plane, which simulates the influence of inaccuracy
in the construction of multi-rotor UAVs. The control simulation shows the possibility of
compensating for the mentioned geometric irregularities ...to ensure the appropriate behavior of
the system. The limit values of this influence are also shown, at which the PID control
algorithm cannot adequately perform the correction and ensure the correct response of the
system. The obtained simulation results would be verified by making an adequate physical
model and obtaining experimental results for the same input parameters, which may be the
subject of future research work.
Keywords:
PID controller / Simulation / UAVsSource:
Booklet of Abstracts - 1st International Conference on Mathematical Modelling in Mechanics and Engineering, 2022, 111-Publisher:
- University of Belgrade, Faculty of Mechanical Engineering
Collections
Institution/Community
Mašinski fakultetTY - CONF AU - Kovačević, Aleksandar AU - Svorcan, Jelena AU - Ivanov, Toni PY - 2022 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4264 AB - Various algorithms are used to control modern unmanned aerial systems. However, thanks to the simplicity of application, the most commonly used control algorithm for aircraft but also for other dynamic systems in various industries is the PID (Proportional, Integral, Derivative) controller. For the proper response of the system and fast stabilization during the action of certain disturbances during its operation, it is necessary to precisely adjust the parameters of the PID controller. This paper presents a mathematical model of a seesaw system for which a PID control simulation was performed for different asymmetric geometries. Asymmetric geometry implies different positions of the rotor relative to the axis of system rotation, as well as when the rotor disks do not lie in the same plane, which simulates the influence of inaccuracy in the construction of multi-rotor UAVs. The control simulation shows the possibility of compensating for the mentioned geometric irregularities to ensure the appropriate behavior of the system. The limit values of this influence are also shown, at which the PID control algorithm cannot adequately perform the correction and ensure the correct response of the system. The obtained simulation results would be verified by making an adequate physical model and obtaining experimental results for the same input parameters, which may be the subject of future research work. PB - University of Belgrade, Faculty of Mechanical Engineering C3 - Booklet of Abstracts - 1st International Conference on Mathematical Modelling in Mechanics and Engineering T1 - Modeling, simulation and control of propeller driven seesaw system with asymmetric geometry using PID controller SP - 111 UR - https://hdl.handle.net/21.15107/rcub_machinery_4264 ER -
@conference{ author = "Kovačević, Aleksandar and Svorcan, Jelena and Ivanov, Toni", year = "2022", abstract = "Various algorithms are used to control modern unmanned aerial systems. However, thanks to the simplicity of application, the most commonly used control algorithm for aircraft but also for other dynamic systems in various industries is the PID (Proportional, Integral, Derivative) controller. For the proper response of the system and fast stabilization during the action of certain disturbances during its operation, it is necessary to precisely adjust the parameters of the PID controller. This paper presents a mathematical model of a seesaw system for which a PID control simulation was performed for different asymmetric geometries. Asymmetric geometry implies different positions of the rotor relative to the axis of system rotation, as well as when the rotor disks do not lie in the same plane, which simulates the influence of inaccuracy in the construction of multi-rotor UAVs. The control simulation shows the possibility of compensating for the mentioned geometric irregularities to ensure the appropriate behavior of the system. The limit values of this influence are also shown, at which the PID control algorithm cannot adequately perform the correction and ensure the correct response of the system. The obtained simulation results would be verified by making an adequate physical model and obtaining experimental results for the same input parameters, which may be the subject of future research work.", publisher = "University of Belgrade, Faculty of Mechanical Engineering", journal = "Booklet of Abstracts - 1st International Conference on Mathematical Modelling in Mechanics and Engineering", title = "Modeling, simulation and control of propeller driven seesaw system with asymmetric geometry using PID controller", pages = "111", url = "https://hdl.handle.net/21.15107/rcub_machinery_4264" }
Kovačević, A., Svorcan, J.,& Ivanov, T.. (2022). Modeling, simulation and control of propeller driven seesaw system with asymmetric geometry using PID controller. in Booklet of Abstracts - 1st International Conference on Mathematical Modelling in Mechanics and Engineering University of Belgrade, Faculty of Mechanical Engineering., 111. https://hdl.handle.net/21.15107/rcub_machinery_4264
Kovačević A, Svorcan J, Ivanov T. Modeling, simulation and control of propeller driven seesaw system with asymmetric geometry using PID controller. in Booklet of Abstracts - 1st International Conference on Mathematical Modelling in Mechanics and Engineering. 2022;:111. https://hdl.handle.net/21.15107/rcub_machinery_4264 .
Kovačević, Aleksandar, Svorcan, Jelena, Ivanov, Toni, "Modeling, simulation and control of propeller driven seesaw system with asymmetric geometry using PID controller" in Booklet of Abstracts - 1st International Conference on Mathematical Modelling in Mechanics and Engineering (2022):111, https://hdl.handle.net/21.15107/rcub_machinery_4264 .