Speed control of drive unit in four-rotor flying robot
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee
2013
paper
english
- engineering applications
- informatics in control
- automation and robotics
- intelligent control systems and optimization
- modeling
- simulation and architectures
- robot design
- development and control
- robotics and automation
- signal processing
- sensors
- systems modeling and control
EN 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.
245 - 250
CC BY-NC-ND (attribution - noncommercial - no derivatives)
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