An Adaptive PID Control System for the Attitude and Altitude Control of a Quadcopter

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2023-12-30 DOI:10.2478/ama-2024-0004

Leszek Cedro, Krzysztof Wieczorkowski, A. Szcześniak

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Abstract

Abstract In adaptive model-based control systems, determining the appropriate controller gain is a complex and time-consuming task due to noise and external disturbances. Changes in the controller parameters were assumed to be dependent on the quadcopter mass, which was the process variable. A nonlinear model of the plant was used to identify the mass, employing the weighted recursive least squares (WRLS) method for online identification. The identification and control processes involved filtration using differential filters, which provided appropriate derivatives of signals. Proportional integral derivative (PID) controller tuning was performed using the Gauss–Newton optimisation procedure on the plant. Differential filters played a crucial role in all the developed control systems by significantly reducing measurement noise. The results showed that the performance of classical PID controllers can be improved by using differential filters and gain scheduling. The control and identification algorithms were implemented in an National Instruments (NI) myRIO-1900 controller. The nonlinear model of the plant was built based on Newton’s equations.

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用于四旋翼飞行器姿态和高度控制的自适应 PID 控制系统

摘要在基于模型的自适应控制系统中，由于噪声和外部干扰，确定适当的控制器增益是一项复杂而耗时的任务。假定控制器参数的变化取决于作为过程变量的四旋翼飞行器质量。采用加权递归最小二乘法（WRLS）进行在线识别，利用工厂的非线性模型来识别质量。识别和控制过程包括使用微分滤波器进行过滤，从而提供信号的适当导数。比例积分导数 (PID) 控制器的调整是在设备上使用高斯-牛顿优化程序进行的。差分滤波器在所有开发的控制系统中都发挥了重要作用，显著降低了测量噪声。结果表明，通过使用差分滤波器和增益调度，可以提高经典 PID 控制器的性能。控制和识别算法是在美国国家仪器公司（NI）的 myRIO-1900 控制器中实现的。工厂的非线性模型是根据牛顿方程建立的。

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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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.