دانش و فناوری هوافضا

دانش و فناوری هوافضا

بررسی عملکرد کنترل‌کننده PID مبتنی بر فازی برای سیستم مسیریابی کوادکوپتر سم‌پاش

نوع مقاله : مقاله پژوهشی

نویسندگان
1 دانشجوی دکتری کنترل دانشکده برق و کامپیوتر دانشگاه سمنان، ایران
2 استادیار، دانشکده مهندسی برق و کامپیوتر، دانشگاه سمنان، ایران
چکیده
کنترل‌کننده‌های PID به‌عنوان یکی از رایج‌ترین و موفق‌ترین تکنیک‌ها برای کنترل سیستم‌های دینامیکی در نظر گرفته‌شده‌اند. بااین‌حال، در صورت وجود عدم قطعیت‌ها و سیستم‌های پیچیده، عملکرد آن‌ها ممکن است نامطلوب باشد. هدف اصلی این تحقیق ارزیابی و بهبود عملکرد کنترل‌کننده PID در سیستم ناوبری کوادکوپتر سم‌پاش زراعی با بار متغیر و با استفاده از رویکردهای مبتنی بر فازی است. ابتدا پارامترهای کنترل‌کننده PID، ثابت و سپس بر اساس جدول جستجو و باتوجه‌به تغییرات بار کوادکوپتر تنظیم می‌شوند. شبیه‌سازی‌ها نشان می‌دهد که کنترل‌کننده PID با پارامترهای ثابت و یا با کمک جدول جستجو، در صورت عدم قطعیت‌هایی مانند تغییرات بار، عملکرد مورد انتظار خود را ندارند.  درنتیجه، تنظیم دقیق‌تر پارامترها ضروری می‌شود؛ بنابراین، از سیستم‌های فازی برای تنظیم برخط پارامترهای کنترل‌کننده PID در سیستم ناوبری کوادکوپتر سم‌پاش با بار متغیر استفاده‌شده است. کنترل‌کننده PID مبتنی بر فازی در مقایسه با کنترل‌کننده PID با پارامتر ثابت و یا جدول جستجو، دقت بالاتر و ناوبری پایدارتری را به دست می‌آورد.
کلیدواژه‌ها
موضوعات

عنوان مقاله English

Performance evaluation of fuzzy-based PID controller for quadcopter navigation system

نویسندگان English

Farhad Ferdowsi 1
Naser Eskanadarian 2
Fahimeh Baghbani 2
1 PhD Student, Faculty of Electrical and Computer Engineering, Semnan University, Semnan, Iran
2 Assistant Professor, Faculty of Electrical and Computer Engineering, Semnan University, Semnan, Iran
چکیده English

Proportional-Integral-Derivative (PID) controllers have been regarded as one of the most prevalent and successful techniques for controlling dynamic systems. However, in the presence of uncertainties and complicated systems, their operation may be undesirable. The major purpose of this research is to assess and improve the performance of the PID controller in the variable load crop spraying quadcopter navigation system using fuzzy-based approaches. At first, the PID controller parameters are fixed and then are tuned based on a look-up table according to the quadcopter load changes. The simulations reveal that the PID controller with fixed parameters or based on the lookup table does not have its expected performance, in the presence of uncertainties such as load variations, and hence it is required to tune the parameters more correctly. Therefore, here the fuzzy systems are utilized for online parameter tuning of the PID controller in the parameters in the variable load spraying quadcopter navigation system. The proposed fuzzy-based PID controller achieves higher accuracy and more stable navigation compared with the fixed-parameter PID controller or look-up table.

کلیدواژه‌ها English

Quadcopter
Sprayer System
Navigation Control
PID Controller
Fuzzy-PID Controller
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