Download pdf
Controller design for transition flight of rotor-driven VTOL fixed-wing UAV based on PID
- 1 Chongqing University
* Author to whom correspondence should be addressed.
Abstract
The field of drones has received a lot of attention in recent years and is developing well. In the process of resource circulation in cities, UAVs play an increasingly important role, such as logistics, monitoring, emergency rescue, etc. However, traditional rotary-wing UAVs and fixed-wing UAVs can be limited in some conditions, such as load, cruising speed and take-off area. Based on the above reasons, this paper designs a rotor-driven VTOL fixed-wing UAV, which combines the vertical take-off and landing of rotor and the fast cruise of fixed-wing UAV and other characteristics. And based on this UAV, for the transition process from hovering state to cruising state, a PID controller is used to control the cruising speed, and then the flight altitude is controlled by a series-level PID controller. The final results show that the cruise speed can be stabilized at about 50km/h within 3 seconds by adjusting the PID parameters without considering the motor speed saturation. In addition, while ensuring the cruise speed reaches convergence quickly, the PID parameters of the acceleration loop, velocity loop and altitude loop can be adjusted separately to control the altitude error of the UAV within 5cm. This study provides a reference for researchers to study the control of rotor-driven UAVs in the transition process.
Keywords
PID, rotor-driven VTOL fixed-wing UAV, transition process, cruise speed control, altitude control.
[1]. Lee Cheonghwa, Seolha Kim, and Baeksuk Chu, "A survey: flight mechanism and mechanical structure of the UAV." International Journal of Precision Engineering and Manufacturing 22.4 (2021): 719-743.
[2]. Saeed, Adnan S., et al. "A review on the platform design, dynamic modeling and control of hybrid UAVs." 2015 International Conference on Unmanned Aircraft Systems (ICUAS). IEEE, 2015.
[3]. Jiang, Hanjie, Yi Ma, and Ye Zhou. "Design of A Hybrid VTOL Logistics UAV System Integrated into Civil Aviation Air Traffic Control System."
[4]. Sonkar, Sarvesh, et al. "Real-Time Object Detection and Recognition Using Fixed-Wing LALE VTOL UAV." IEEE Sensors Journal 22.21 (2022): 20738-20747.
[5]. Dhaliwal, S. S., and A. Ramirez-Serrano. "Control of an unconventional VTOL UAV for search and rescue operations within confined spaces based on the Marc control architecture." 2009 IEEE International Workshop on Safety, Security & Rescue Robotics (SSRR 2009). IEEE, 2009.
[6]. Tayebi, Abdelhamid, and Stephen McGilvray. "Attitude stabilization of a VTOL quadrotor aircraft." IEEE Transactions on control systems technology 14.3 (2006): 562-571.
[7]. Åström, Karl Johan, and Tore Hägglund. "The future of PID control." Control engineering practice 9.11 (2001): 1163-1175.
[8]. Okasha, Mohamed, Jordan Kralev, and Maidul Islam. "Design and Experimental Comparison of PID, LQR and MPC Stabilizing Controllers for Parrot Mambo Mini-Drone." Aerospace 9.6 (2022): 298.
[9]. Dani, Siddhesh, et al. "Performance evaluation of PID, LQR and MPC for DC motor speed control." 2017 2nd international conference for convergence in technology (I2CT). IEEE, 2017.
[10]. Young, K. David, Vadim I. Utkin, and Umit Ozguner. "A control engineer's guide to sliding mode control." IEEE transactions on control systems technology 7.3 (1999): 328-342.
[11]. Yu, Li, Daibing Zhang, and Jiyang Zhang. "Transition flight modeling and control of a novel tilt tri-rotor UAV." 2017 IEEE International Conference on Information and Automation (ICIA). IEEE, 2017.
[12]. Nakamura, Yoshikazu, et al. "Transitional flight simulations for a tilted quadrotor with a fixed-wing." 2018 IEEE International Conference on Mechatronics and Automation (ICMA). IEEE, 2018.
[13]. Chen, Chao, et al. "Identification and control of a hovering tiltrotor UAV." 2016 12th World Congress on Intelligent Control and Automation (WCICA). IEEE, 2016.
[14]. Sridhar, Siddharth, et al. "Nonlinear control of a novel class of tilt-rotor quadcopters using sliding mode method: Theory and hardw.
Cite this article
Chen,K. (2023). Controller design for transition flight of rotor-driven VTOL fixed-wing UAV based on PID. Applied and Computational Engineering,9,15-21.
Data availability
The datasets used and/or analyzed during the current study will be available from the authors upon reasonable request.
Disclaimer/Publisher's Note
The statements, opinions and data contained in all publications are solely those of the individual author(s) and contributor(s) and not of EWA Publishing and/or the editor(s). EWA Publishing and/or the editor(s) disclaim responsibility for any injury to people or property resulting from any ideas, methods, instructions or products referred to in the content.
About volume
Volume title: Proceedings of the 2023 International Conference on Mechatronics and Smart Systems
© 2024 by the author(s). Licensee EWA Publishing, Oxford, UK. This article is an open access article distributed under the terms and
conditions of the Creative Commons Attribution (CC BY) license. Authors who
publish this series agree to the following terms:
1. Authors retain copyright and grant the series right of first publication with the work simultaneously licensed under a Creative Commons
Attribution License that allows others to share the work with an acknowledgment of the work's authorship and initial publication in this
series.
2. Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the series's published
version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgment of its initial
publication in this series.
3. Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and
during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See
Open access policy for details).