Twisting control algorithm for the yaw and pitch tracking of a Twin rotor UAV

سال انتشار: 1394
محل انتشار: دومین کنفرانس بین المللی مهندسی دانش بنیان و نوآوری
کد COI اختصاصی: KBEI02_285
زبان مقاله: انگلیسی
تعداد مشاهده: 462

نویسندگان

Dept. of Electrical Engineering Islamic Azad University of Aliabad-e Katul Aliabad-e Katul, Iran

Assistant Prof., Dept. of Electrical Engineering Golestan University Gorgan, Iran

چکیده

In this paper, second order sliding mode controller is used to compensate the pitch and yaw angles of multivariable (MIMO) twin rotor system. Twin rotor has 6 statevariables including yaw and pitch angles, yaw and pitch angular velocities, and armature currents. Considering the physicalstructure of twin rotor, the controller aims to track thementioned angles and stabilize their angular velocities. Depending on the type of sliding control mode in the designprocess, the armature currents should be placed in an allowable range based on physical characteristics of twin rotor. This helpsthe controller to do the tracking and stabilizing in a proper way. Second order sliding control design is done based on twisting algorithm and in this regard, two sliding surfaces are defined asthe sum of tracking error of yaw and pitch angles and their integrals. The controller performance is studied in the light oftracking accuracy and steady-state error, transient behavior and response fluctuations level and presence or absence of ripple inresponse. In all cases, the simulation is presented for first and second order sliding mode controllers and their advantages anddisadvantages will be investigated.

کلیدواژه ها

Twin Rotor, First and Second Sliding Mode Control, Twisting Algorithm

مقالات مرتبط جدید

اطلاعات بیشتر در مورد COI

COI مخفف عبارت CIVILICA Object Identifier به معنی شناسه سیویلیکا برای اسناد است. COI کدی است که مطابق محل انتشار، به مقالات کنفرانسها و ژورنالهای داخل کشور به هنگام نمایه سازی بر روی پایگاه استنادی سیویلیکا اختصاص می یابد.

کد COI به مفهوم کد ملی اسناد نمایه شده در سیویلیکا است و کدی یکتا و ثابت است و به همین دلیل همواره قابلیت استناد و پیگیری دارد.