Title
Rotational speed control of multirotor UAV's propulsion unit based on fractional-order PI controller
Authors
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ 2 ] Katedra Sterowania i Inżynierii Systemów, Wydział Informatyki, Politechnika Poznańska | [ P ] employee
Scientific discipline (Law 2.0)
Year of publication
2017
Chapter type
chapter in monograph / paper
Publication language
english
Keywords
EN
- fractional-order controller
- speed controller
- FOPI controller
- linear BLDC motor model
- propulsion unit
- motor-rotor model
- Hermite-Biehler and Pontryagin theorems
Abstract
EN In this paper the synthesis of a rotational speed closed-loop control system based on a fractional-order proportional-integral (FOPI) controller is presented. In particular, it is proposed the use of the SCoMR-FOPI procedure as the controller tuning method for an unmanned aerial vehicle's propulsion unit. In this framework, both the Hermite-Biehler and Pontryagin theorems are used to predefine a stability region for the controller. Several simulations were conducted in order to try to answer the questions - is the FOPI controller good enough to be an alternative to more complex FOPID controllers? In what circumstances can it be advantageous over the ubiquitous PID? How robust this fractional-order controller is regarding the parametric uncertainty of considered propulsion unit model?
Date of online publication
2017
Pages (from - to)
993 - 998
Ministry points / chapter
20
Publication indexed in
WoS (15)
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