风环境下悬载航空系统滑模自适应PID控制设计

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Journal of Computational and Nonlinear Dynamics Pub Date : 2023-04-13 DOI:10.1115/1.4062324

Vincenzo Di Paola, A. Goldsztejn, M. Zoppi, S. Caro

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引用次数: 1

摘要

众所周知，阵风是影响航空系统的干扰因素之一。研究了一种由无质量刚杆和四旋翼飞行器悬吊的载荷跟踪问题。跟踪任务的复杂性在于阵风的存在。因此，引入比例-积分-导数(PID)控制的自调谐增益技术来完成阵风出现时的跟踪任务。为了自动调整PID增益，利用滑模条件。该方法在考虑有界扰动的情况下，通过引入李雅普诺夫方法设计的监督控制来保证其稳定性。通过仿真验证了该方法的有效性，并对PD控制和PID控制进行了比较。

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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Design of a Sliding Mode-Adaptive PID Control for Aerial Systems with a Suspended Load Exposed to Wind Gusts

Wind gusts are among the well-known disturbances that afflict aerial systems. A tracking task for a load suspended by massless rigid bars and quadrotors is considered in this paper. The complexity of the tracking task lies in the presence of wind gusts. Therefore, a self-tuning gain techniques for a Proportional-Integral-Derivative (PID) control are introduced to accomplish tracking tasks when wind gusts appear. To automatically tune the PID gains, a sliding mode condition is exploited. The stability of this approach, considering bounded disturbances, is guaranteed by introducing a supervisory control designed through the Lyapunov method. The proposed solution and its performances were tested through simulation and compared with both PD and PID controls.

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来源期刊

Journal of Computational and Nonlinear Dynamics 工程技术-工程：机械

CiteScore

4.00

自引率

10.00%

发文量

审稿时长

6-12 weeks

期刊介绍： The purpose of the Journal of Computational and Nonlinear Dynamics is to provide a medium for rapid dissemination of original research results in theoretical as well as applied computational and nonlinear dynamics. The journal serves as a forum for the exchange of new ideas and applications in computational, rigid and flexible multi-body system dynamics and all aspects (analytical, numerical, and experimental) of dynamics associated with nonlinear systems. The broad scope of the journal encompasses all computational and nonlinear problems occurring in aeronautical, biological, electrical, mechanical, physical, and structural systems.