POSITION CONTROL OF A QUADCOPTER WITH PID AND FUZZY-PID CONTROLLER

Ozan Polat; Aziz Sezgin

Makale detayları

POSITION CONTROL OF A QUADCOPTER WITH PID AND FUZZY-PID CONTROLLER

Yazarlar:

Ozan Polat | Aziz Sezgin

Yayıncı:

Süleyman Demirel University

Ana Başlıklar:

Mühendislik | Makine Mühendisliği

Dergi:

Mühendislik Bilimleri ve Tasarım Dergisi Vol.12 Issue 1, pp.34-48

Belge Tipi:

Makale

Yayın Tarihi:

3/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001313917

pISSN:

1308-6693

Anahtar kelimeler:

Özet:

 In this study, PID based efficient control systems are designed and compared for position control of a quadcopter in six degrees of freedom. The main goal is to get the quadcopter to the desired position in three-dimensional space. Firstly, the desired position for the quadcopter to reach is determined. Then, the physical model of the system is selected, and mathematical model is derived according to the physical model. Initially, all external disturbances like drag force and wind are neglected. However, various external disturbances are then applied to the system to measure robustness of the designed controllers. Firstly, PID controller is implemented to the quadcopter system. Secondly, Fuzzy-PID controller is used. Necessary pitch and roll angles are found and control forces are calculated by using both controllers. Also, angular velocities of the motors and current values which are needed to be supplied to each motor are calculated and compared to evaluate performance and applicability of the proposed controllers. According to the results, it is observed that both controllers worked successfully, quadcopter is able to reach the desired location in three-dimensional space. However, Fuzzy-PID controller gives faster response and smaller overshoot levels than basic PID controller. In addition, it is seen that the Fuzzy-PID controller is less affected by external disturbances, and it recovers faster against these changes.

 In this study, PID based efficient control systems are designed and compared for position control of a quadcopter in six degrees of freedom. The main goal is to get the quadcopter to the desired position in three-dimensional space. Firstly, the desired position for the quadcopter to reach is determined. Then, the physical model of the system is selected, and mathematical model is derived according to the physical model. Initially, all external disturbances like drag force and wind are neglected. However, various external disturbances are then applied to the system to measure robustness of the designed controllers. Firstly, PID controller is implemented to the quadcopter system. Secondly, Fuzzy-PID controller is used. Necessary pitch and roll angles are found and control forces are calculated by using both controllers. Also, angular velocities of the motors and current values which are needed to be supplied to each motor are calculated and compared to evaluate performance and applicability of the proposed controllers. According to the results, it is observed that both controllers worked successfully, quadcopter is able to reach the desired location in three-dimensional space. However, Fuzzy-PID controller gives faster response and smaller overshoot levels than basic PID controller. In addition, it is seen that the Fuzzy-PID controller is less affected by external disturbances, and it recovers faster against these changes.

 In this study, PID based efficient control systems are designed and compared for position control of a quadcopter in six degrees of freedom. The main goal is to get the quadcopter to the desired position in three-dimensional space. Firstly, the desired position for the quadcopter to reach is determined. Then, the physical model of the system is selected, and mathematical model is derived according to the physical model. Initially, all external disturbances like drag force and wind are neglected. However, various external disturbances are then applied to the system to measure robustness of the designed controllers. Firstly, PID controller is implemented to the quadcopter system. Secondly, Fuzzy-PID controller is used. Necessary pitch and roll angles are found and control forces are calculated by using both controllers. Also, angular velocities of the motors and current values which are needed to be supplied to each motor are calculated and compared to evaluate performance and applicability of the proposed controllers. According to the results, it is observed that both controllers worked successfully, quadcopter is able to reach the desired location in three-dimensional space. However, Fuzzy-PID controller gives faster response and smaller overshoot levels than basic PID controller. In addition, it is seen that the Fuzzy-PID controller is less affected by external disturbances, and it recovers faster against these changes.

 Bu çalışmada, bir dörtpervanelinin altı serbestlik derecesinde pozisyon kontrolü için PID tabanlı verimli kontrol sistemleri tasarlanmış ve karşılaştırılmıştır. Asıl amaç, dörtpervaneliyi üç-boyutlu uzayda istenen konuma getirmektir. İlk olarak dörtpervanelinin ulaşması istenen pozisyon belirlenmiştir. Sonra sistemin fiziksel modeli seçilmiştir ve matematiksel model, fiziksel modele göre türetilmiştir. Başlangıçta sürükleme kuvveti ve rüzgar gibi tüm dış etkiler yoksayılmıştır. Fakat, tasarlanan kontrolcülerin sağlamlığını ölçmek için çeşitli dış etkiler sisteme daha sonra uygulanmıştır.İlk olarak PID kontrolcü dörtpervaneli sistemine uygulanmıştır, ikinci olarak Bulanık Mantık-PID kontolcü kullanılmıştır. Gerekli olan yunuslama ve yuvarlama açıları bulunmuş ve kontrol kuvvetleri her iki kontrolcü ile de hesaplanmıştır. Ayrıca motorların açısal hızı ve her bir motora sağlanması gereken akım değerleri, önerilen kontrolcülerin performansı ve uygulanabilirliğini ölçmek için, hesaplanmış ve karşılaştırılmıştır. Sonuçlara göre, her iki kontrolcünün de başarılı şekilde çalıştığı gözlemlenmiştir, dörtpervaneli üç-boyutlu uzayda istenen konuma ulaşabilmiştir. Fakat, Bulanık mantık-PID kontrolcü, temel PID kontrolcüden daha hızlı ve daha az seviyede aşımla cevap vermiştir. Ayrıca, Bulanık Mantık-PID kontrolcünün dış etkilerden daha az etkilendiği ve bu değişiklikler karşısında daha hızlı toparladığı görülmüştür.

Makale detayları

POSITION CONTROL OF A QUADCOPTER WITH PID AND FUZZY-PID CONTROLLER

Yazarlar:

Ozan Polat | Aziz Sezgin

Yayıncı:

Süleyman Demirel University

Ana Başlıklar:

Mühendislik | Makine Mühendisliği

Dergi:

Mühendislik Bilimleri ve Tasarım Dergisi Vol.12 Issue 1, pp.34-48

Belge Tipi:

Makale

Yayın Tarihi:

3/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001313917

pISSN:

1308-6693

Drone

Quadcopter

PID

Fuzzy

Simulationİnsansız Hava Aracı

Dörtpervaneli

PID

Bulanık Mantık

Benzetim

Sayı

Makale detayları

Yazarlar: Ozan Polat | Aziz Sezgin

Yayıncı: Süleyman Demirel University

Ana Başlıklar: Mühendislik | Makine Mühendisliği

Dergi: Mühendislik Bilimleri ve Tasarım Dergisi Vol.12 Issue 1, pp.34-48

Belge Tipi: Makale

Yayın Tarihi: 3/2024

Belge Dili: İngilizce

Document ID (Org No.): 2001313917

pISSN: 1308-6693

Sayı

Yazarlar:

Ozan Polat | Aziz Sezgin

Yayıncı:

Süleyman Demirel University

Ana Başlıklar:

Mühendislik | Makine Mühendisliği

Dergi:

Mühendislik Bilimleri ve Tasarım Dergisi Vol.12 Issue 1, pp.34-48

Belge Tipi:

Makale

Yayın Tarihi:

3/2024

Belge Dili:

İngilizce

Document ID (Org No.):

2001313917

pISSN:

1308-6693