Rancang Bangun Quadrotor Dengan Kendali Robust Pid Untuk Pemetaan Sawah Pra Panen

Rendra Dwi Firmansyah, Budi Sumanto, Rella Mareta
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Abstract

Field mapping is important to know the potential of agricultural productivity in a region.Furthermore, field mapping can also be used to predict crops in a region. The mapping can be donethrough aerial photographs. Aerial photographs can be performed using manned aerial vehicle aswell as unmanned aerial vehicle. Currently, many aerial photographs are taken using unmannedaerial vehicle because the cost is much more affordable than using a manned aerial vehicle. One typeof unmanned aircraft used for aerial photographs is quadcopter. However taking aerial photographsusing a quadcopter often produces blurry images due to its instability. Instability of the quadcopter iscaused by several factors including sensor readings such as IMU, GPS, compass, and barometer,disturbance factors such as angina, and control systems that are less robust to quadcopter characters.To get a stable quadcopter, a control system that matches the quadcopter character and has aresistance to interference is needed. One of the control systems that can be applied to the quadcopteris the Robust PID control system. Reliability of the control system can be seen using ITAE (IntegralTime Absolute Error). The smaller the value of ITAE the better the control system. Some tuningmethods are done to get the Robust PID control system. The method used in this research is ZieglerNicols, fine tuned PID controller, and ITAE tuning method. The result of PID constant tuning is thenimplemented to quadcopter. In this study the response data was obtained by using IMU sensor. Theresult shows that of the three tuning methods implemented in the quadcopter, the Fine tuning methodgives better results than the others.
设计一个四轮驱动器,用Robust控制来绘制收割前的稻田
实地测绘对于了解一个地区的农业生产力潜力非常重要。此外,田间测绘还可用于预测某一地区的作物。测绘可以通过航拍照片来完成。航空摄影可以执行使用有人驾驶飞行器以及无人驾驶飞行器。目前,许多航空照片都是使用无人驾驶飞行器拍摄的,因为成本比使用有人驾驶飞行器要便宜得多。一种用于航空摄影的无人驾驶飞机是四轴飞行器。然而,由于其不稳定性,使用四轴飞行器进行航空摄影往往会产生模糊的图像。四轴飞行器的不稳定性是由几个因素引起的,包括传感器读数,如IMU、GPS、指南针和气压计,干扰因素,如心绞痛,以及控制系统对四轴飞行器特性的鲁棒性较差。为了获得稳定的四轴飞行器,需要一种符合四轴飞行器特性并具有抗干扰能力的控制系统。鲁棒PID控制系统是一种可以应用于四轴飞行器的控制系统。控制系统的可靠性可以用ITAE (IntegralTime绝对误差)来衡量。ITAE值越小,控制系统越好。为了得到鲁棒PID控制系统,采用了一些整定方法。本研究采用ZieglerNicols、精整PID控制器、ITAE整定方法。将PID恒整定的结果应用于四轴飞行器。本研究采用IMU传感器获取响应数据。结果表明,在四轴飞行器上实现的三种调谐方法中,微调方法的调谐效果优于其他方法。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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