Initial Tuning Procedure for Attitude and Vertical Movement Controllers in Multirotor Aerial Vehicles with Heterogeneous Propulsion Units

Przemysław Ga̧sior, Adam Bondyra, Stanisław Gardecki

2018

Abstract

In this paper, a hybrid procedure of tuning the control structure of a newly developed multirotor aerial platform is presented. Such situation presents a demanding task because there are no initial parameters of PID controllers ensuring safe flight conditions. Most methods base on full mathematical models which can be divergent from the real plant and require a process of detailed system’s identification. The second area of solutions utilises different types of test benches to perform trial and error tuning in safe conditions. A method presented in this article comprises a hybrid approach connecting both practices. The key element in this solution is a model of the implemented propulsion system and physical parameters of the airframe itself obtained from the CAD software. System noise variances are gathered from experiments on the test bench and implemented in appropriate simulations. Next, the optimisation can be executed to gather parameters for every constituent controller. Finally, verification in real conditions is performed. The presented method was used for the development of two significantly different multirotor UAVs during the pre-flight PID control tuning phase. An approach is versatile for both symmetrical and unsymmetrical heterogeneous airframes.

Paper Citation

in Harvard Style

Ga̧sior P., Bondyra A. and Gardecki S. (2018). Initial Tuning Procedure for Attitude and Vertical Movement Controllers in Multirotor Aerial Vehicles with Heterogeneous Propulsion Units.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 465-472. DOI: 10.5220/0006911304650472

in Bibtex Style

@conference{icinco18,
author={Przemysław Ga̧sior and Adam Bondyra and Stanisław Gardecki},
title={Initial Tuning Procedure for Attitude and Vertical Movement Controllers in Multirotor Aerial Vehicles with Heterogeneous Propulsion Units},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={465-472},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006911304650472},
isbn={978-989-758-321-6},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Initial Tuning Procedure for Attitude and Vertical Movement Controllers in Multirotor Aerial Vehicles with Heterogeneous Propulsion Units
SN - 978-989-758-321-6
AU - Ga̧sior P.
AU - Bondyra A.
AU - Gardecki S.
PY - 2018
SP - 465
EP - 472
DO - 10.5220/0006911304650472