Journal of IKEEE (전기전자학회논문지)

Institute of Korean Electrical and Electronics Engineers (한국전기전자학회)
권호 표지
DOI QR코드

DOI QR Code

Quadrotor altitude control with experimental data-based PID controller

실험 데이터 기반의 PID제어기를 이용한 쿼드로터의 고도제어

  • Ho-Sung Lee (Dept. of Electrical Engineering, Dong-A University) ;
  • Ji-Sun Park (Dept. of Electrical Engineering, Dong-A University) ;
  • Ho-Lim Choi (Dept. of Electrical Engineering, Dong-A University)
  • 이호성 ;
  • 박지선 ;
  • 최호림
  • Received : 2024.05.10
  • Accepted : 2024.06.11
  • Published : 2024.06.30
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose a PID controller for altitude control of quadrotor system with experimental analysis. The Routh-Hurwitz test is applied to analyze the system to which our proposed controller is applied. We also summarize experimental data in which the gain values of kP, kI, and kD are changed using MATLAB and Simulink based on mathematical modeling of the quadrotor system. Based on the summarized experimental data, we analyze the effect of changes in each gain values (kP, kI, kD) of PID controller on altitude control of quadrotor, and present an algorithm for tuning the PID controller gain values. The PID controller with the proposed algorithm is applied to AR.Drone system, subsequently and result are verifised through experiments.

본 논문에서는 실험적 분석을 이용하여 쿼드로터 시스템의 고도제어를 위한 PID제어기를 제안한다. 제안된 제어기가 적용된 시스템의 안정성을 분석하기 위해 Routh-Hurwitz 판별법을 적용한다. 또한 쿼드로터 시스템을 수학적 모델링을 기반으로 MATLAB과 Simulink를 이용하여 kP, kI, kD 각각의 값을 변화시키며 실험의 결과를 정리한다. 정리된 실험의 결과를 바탕으로 PID제어기 각각의 이득값(kP, kI, kD)의 변화가 쿼드로터의 자세제어에 미치는 영향에 대하여 분석하고, 분석한 내용을 바탕으로 제어기 이득값을 튜닝하기 위한 알고리즘을 제시한다. 제안된 알고리즘을 적용한 PID 제어기는 실제 시스템인 AR.Drone에 적용하여 효과를 실험적으로 검증한다.

Keywords

Acknowledgement

This work was supported by the National Research Foundation of Korea(NRF) grant funded by the Korea government(MSIT) (No. 2023R1A2C1002832).

References

  1. H. J. Jeong, Y. J. Kim, S. K. Kim, and J. Y. Suk, "Stability analysis of INDI controller of fixed-wing and quadrotor UAV," The Society for Aerospace System Engineering fall conference, pp.48-49, 2023.
  2. H. Rios, J. Gonzalez-Sierra, and A. Dzul, "Robust tracking output-control for a quad-rotor: A continuous sliding-mode approach," Journal of the Franklin Institute, vol.354, no.15, pp.6672-6691, 2017. DOI: 10.1016/j.jfranklin.2017.08.024
  3. Y.-C. Um, "A study on design and analysis of a sliding mode controller with a gain-scaling factor of a quadrotor system," Master's thesis, Dong-A University, 2020.
  4. J.-S. Wang, S.-Y. Lee, S.-H. Yang, S.-W. Lee, and S.-J. Joo, "Attitude control of the quad-rotor using the modified PID controller," Proceedings of the Korean Institute of Electrical Engineers summer conference, vol.129, no.part A, pp.1800-1801, 2011.
  5. C.-H. Kim, D.-G. Im, and B.-S. Seo, "Optimum tuning of modified PID controller using a property of the affine set," Journal of the Institute of Electronics Engineers of Korea. SC, vol.42, no.6, pp.15-22, 2005.
  6. C. I. Muresan and R. De Keyser, "Revisiting Ziegler-Nichols. A fractional order approach," Instrumentation System and Automation Society Transactions, vol.129, part.A, pp.287-296, 2022. DOI: 10.1016/j.isatra.2022.01.017
  7. S. R. Lee, "The modified Ziegler-Nichols method for obtaining the optimum PID gain coefficients under quadcopter flight system," Journal of the Korea Convergence Society, vol.42, no.11, pp.195-201, 2020. DOI:10.15207/JKCS.2020.11.11.195
  8. S. J. Kim, J. Y. Cho, and J. Y. Kim, "Parameter tuning method of PID controller using ensemble algorithm," The Korean Society for Precision Engineering Fall Conference, no.5, pp.764, 2021.
  9. M. S. Jang, C. H. Lee, and J.-W. Lee, "Optimization method of PID control gain for multicopter using genetic algorithm," The Korean Society for Aeronautical and Space Sciences Spring Conference, no.7, pp.670-671, 2021.
  10. K. Khuwaja, I. C. Tarca, N.-u. ZamanLighari, and R. C. Tarca, "PID Controller tuning optimization with genetic algorithms for a quadcopter," Recent Innovations in Mechatronics, vol.5, no.1, 2018. DOI: 10.17667/riim.2018.1/11
  11. S. H. Kim and D. G. Kim, "Improving genetic algorithm based quadcopter PID control gain optimization by modified objective function," Proceedings of the Korean Society of Computer Information Conference, no.6, pp.1,811-1,813, 2023.
  12. S.-J. Park "PID Self-tuning for steering position control of mobile robot," Journal of Platform Technology, vol.5, no.4, pp.55-67, 2017.
  13. T. S. Park, M. S. Kim, J. H. Lee, N. W. Gon, Y. J. Park, and P. G. Park "PID controller gain tuning algorithm using reinforcement learning," Institute of Control, Robotics and Systems Conference, no.6, pp.689-690, 2021.