Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor

Authors

  • Ivan Paulo Canal Brazilian Journals Publicações de Periódicos, São José dos Pinhais, Paraná
  • Manuel Martín Pérez Reimbold

DOI:

https://doi.org/10.34117/bjdv6n2-073

Keywords:

Ziegler-Nichols, quadrotor control, PID tuning, multirotor.

Abstract

Quadrotor and multirotor aircraft, which do not need a pilot to fly, are used for recreational or work purposes, with the quadrotor being the type most used in practical implementations. The quadrotor represents a promising field of research due to its ability to fly and manoeuvre, gaining recognition as a technological solution in many areas. An aircraft quadrotor is a complex control system that allows great flexibility of flight. The identification and control of the variables in multirotor aerial systems such as quadrotors is challenging, however, because the quantities involved are not always available, known and accurate. Among the various control methods that have been investigated, proportional-integral-derivative (PID) control offers good results and simplicity for application in quadrotors, but achieving stability and high performance is challenging, with the fundamental task being tuning the controller gains. Improving the control system performance is also challenging, especially when the load varies. Here, Ziegler-Nichols (ZN) theory was used to tune the controller gains for pitch and roll attitude command, followed by evaluation of improvements in the system response. The optimized application of ZN theory to a quadrotor (termed optimized ZNAQ) is proposed and obtains a significant improvement in the control system response performance, demonstrating that optimized ZNAQ is valid for tuning the controller PID gains and more efficient than the original ZN theory approach.

 

References

Astr, K. J. (2004). Revisiting the Ziegler – Nichols step response method for PID control, 14, 635–650. https://doi.org/10.1016/j.jprocont.2004.01.002

Bahavarnia, M., & Tavazoei, M. S. (2013). A new view to Ziegler – Nichols step response tuning method?: Analytic non-fragility justification. Journal of Process Control, 23(1), 23–33. https://doi.org/10.1016/j.jprocont.2012.10.012

Federal Aviation Administration. (2015). Aviation Data e Statistics. Retrieved August 6, 2015, from https://www.faa.gov/

He, Z., & Zhao, L. (2014). A simple attitude control of quadrotor helicopter based on Ziegler-Nichols rules for tuning pd parameters. Scientific World Journal Hindawi Publishing, 2014. https://doi.org/10.1155/2014/280180

He, Z., & Zhao, L. (2016). Quadrotor trajectory tracking based on internal model control/ZN-PD control. IEEE Chinese Control Conference, CCC, 2016-Augus(1), 945–950. https://doi.org/10.1109/ChiCC.2016.7553208

Ireland, M., Vargas, A., & Anderson, D. (2015). A Comparison of Closed-Loop Performance of Multirotor Configurations Using Non-Linear Dynamic Inversion Control. Aerospace, 2(2), 325–352. https://doi.org/10.3390/aerospace2020325

Khodja, M. A., Tadjine, M., Boucherit, M. S., & Benzaoui, M. (2017). Experimental dynamics identification and control of a quadcopter. IEEE Iternational Conference on Systems and Control, ICSC 2017, 498–502. https://doi.org/10.1109/ICoSC.2017.7958668

Kumar, V., & Loianno, G. (2016). ICRA 2016 TUTORIAL: AERIAL ROBOTICS. IEEE International Conference on Robotics and Automation.

Mallesham, G., Mishra, S., & Jha, A. N. (2011). Ziegler-Nichols based controller parameters tuning for load frequency control in a microgrid. IEEE International Conference on Energy, Automation and Signal, ICEAS - 2011, 335–342. https://doi.org/10.1109/ICEAS.2011.6147128

National Instruments. (2019). Explicando a Teoria PID. Retrieved January 6, 2019, from http://www.ni.com/white-paper/3782/pt/

Ogata, K. (2011). Engenharia de Controle Moderno. São Paulo: Pearson Prentice Hall.

Özbek, N. S., Önkol, M., & Efe, M. Ö. (2016). Feedback control strategies for quadrotor-type aerial robots: a survey. Transactions of the Institute of Measurement and Control, 38(5), 529–554. https://doi.org/10.1177/0142331215608427

Quan, Q. (2017). Introduction to Multicopter Design and Control. Retrieved from it httwww.springer.com/us/book/9789811033810)

Rodríguez, D., Han, D. I., Keel, S., & Bhattacharyya, H. (2017). Advanced Tuning for Ziegler-Nichols Plants. IFAC-PapersOnLine, 50(1), 1805–1810. https://doi.org/10.1016/j.ifacol.2017.08.168

Zhang, X., Li, X., Wang, K., & Lu, Y. (2014). A survey of modelling and identification of quadrotor robot. Abstract and Applied Analysis, 2014. https://doi.org/10.1155/2014/320526

Ziegler, J. G., Nichols, N. B., & Rochester, N. Y. (1942). Optimum Settings for Automatic Controllers. TRANSACTIONS OF THE A.S.M.E., 759–768.

Downloads

Published

2020-02-07

How to Cite

Canal, I. P., & Reimbold, M. M. P. (2020). Ziegler-Nichols optimization for quadrotor attitude control / Otimização de Ziegler-Nichols para o controle de atitude de quadrirrotor. Brazilian Journal of Development, 6(2), 6306–6315. https://doi.org/10.34117/bjdv6n2-073

Issue

Section

Original Papers