Speed Control of Drive Unit in Four-rotor Flying Robot

Stanisław Gardecki, Wojciech Giernacki, Jaroslaw Goslinski

Abstract

In this paper the synthesis of speed controller for drive unit is presented. Its aim is to generate the lift force of multi-rotor flying robot. Parameters of drive unit model were experimentally determined based on recorded time characteristics from engine test stand. The use of two alternative controllers: CDM and PID types was proposed. The CDM controller was tuned in accordance with the Coefficient Diagram Method and the PID controller in MATLAB’s Simulink Response Optimization tool. The efficiency of both types control systems was compared for specified conditions. Integral quality indices were adopted as a measure of assessment. Obtained simulation results were discussed in the context of implementation on a real robot.

References

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Paper Citation


in Harvard Style

Gardecki S., Giernacki W. and Goslinski J. (2013). Speed Control of Drive Unit in Four-rotor Flying Robot . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-71-6, pages 245-250. DOI: 10.5220/0004477002450250


in Bibtex Style

@conference{icinco13,
author={Stanisław Gardecki and Wojciech Giernacki and Jaroslaw Goslinski},
title={Speed Control of Drive Unit in Four-rotor Flying Robot},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2013},
pages={245-250},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004477002450250},
isbn={978-989-8565-71-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Speed Control of Drive Unit in Four-rotor Flying Robot
SN - 978-989-8565-71-6
AU - Gardecki S.
AU - Giernacki W.
AU - Goslinski J.
PY - 2013
SP - 245
EP - 250
DO - 10.5220/0004477002450250