Open Access Open Access  Restricted Access Subscription or Fee Access

Implementation of Heuristical PID Tuning for Nonlinear System Control

Mohammed Abdallah Khodja(1*), Cherif Larbes(2), Naeem Ramzan(3), Anwar Hassan Ibrahim(4)

(1) Department of Electrical Engineering, Qassim University, Saudi Arabia
(2) Ecole Nationale Polytechnique, Algeria
(3) School of Engineering and Computing University of West of Scotland Paisley, United Kingdom
(4) Department of Electrical Engineering, Qassim University, Saudi Arabia
(*) Corresponding author


DOI: https://doi.org/10.15866/ireaco.v12i2.16791

Abstract


Quadcopter based technology utilizes a hybrid structure that delivers the ultimate services for auto control system and managements. The main objective of this study is to identify PID parameters for real nonlinear system, which is a Quadcopter flying based on certain parameters via experiment method. The control law has been programmed in Teensy development board wired to 10-DOF IMU ‘Inertial Measurement Unit’ and other sensors in order to get a home-made autopilot. Accordingly, the procedure for PID controller is tuning the autopilot using ‘Ziegler-Nichols’ in order to identify the three parameters of PID which generate a stable response in lowest time-consuming. The Z-N ‘Ziegler-Nichols’ has been implemented in real time case for Quadcopter application through altitude stabilization in a nonlinear system. In conclusion, the results shows that, the significant contribution of Ziegler-Nichols implementation in nonlinear system of the altitude stabilization has been accurately defined as an alternative method of Ziegler-Nichols which has been originally designed for linear system only.
Copyright © 2019 Praise Worthy Prize - All rights reserved.

Keywords


Teensy 3.2; Heuristic Procedure Implementation; PID Control; Altitude Model of a Quadcopter; Ziegler and Nichols Method

Full Text:

PDF


References


Belhadri, K., Kouadri, B., Zegai, M., Adaptive Neural Control Algorithm Design for Attitude Stabilization of Quadrotor UAV, (2016) International Review of Automatic Control (IREACO), 9 (6), pp. 390-396.
https://doi.org/10.15866/ireaco.v9i6.9919

C. Liu and S. D. Prior, Design and implementation of a mini quadrotor control system in GPS denied environments, International Conference on Unmanned Aircraft Systems (ICUAS), Denver, CO, 2015, pp. 462-469.
https://doi.org/10.1109/icuas.2015.7152324

K. Alexis, G. Nikolakopoulos, A. Tzes, Model predictive quadrotor control: attitude, altitude, and position experimental studies, IET Control Theory & Applications, Vol. 6, (12), pp. 1812-1827, 2012.
https://doi.org/10.1049/iet-cta.2011.0348

Hassan, Fazilah and Zolotas, Argyrios C. and Smith, Optimized Ziegler-Nichols based PID control design for tilt suspensions. Journal of Engineering Science and Technology Review, 10 (5). pp. 17-24, 2017.
https://doi.org/10.25103/jestr.105.02

E. K. Anto, J. A. Asumadu and P. Y. Okyere, PID control for improving P&O-MPPT performance of a grid-connected solar PV system with Ziegler-Nichols tuning method, 2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA), Hefei, pp. 1847-1852, 2016.
https://doi.org/10.1109/iciea.2016.7603888

P. Parikh, R. Vasani, S. Sheth, Velocity Analysis of a DC Brushed Encoder Motor using Ziegler-Nichols Algorithm: A Case of an Automated Guided Vehicle, Indian Journal of Science and Technology, Vol. 9(38), 2016.
https://doi.org/10.17485/ijst/2016/v9i38/100884

A. A. Azman, M. H. F. Rahiman, N. N. Mohammad, M. H. Marzaki, M. N. Taib and M. F. Ali, Modelling and comparative study of PID Ziegler Nichols (ZN) and Cohen-Coon (CC) tuning method for Multi-tube aluminum sulphate water filter (MTAS), 2017 IEEE 2nd International Conference on Automatic Control and Intelligent Systems (I2CACIS), Kota Kinabalu, 2017, pp. 25-30.
https://doi.org/10.1109/i2cacis.2017.8239027

M. H. Tanveer, A. S. Faiz, D. Hazry, et al, Stabilized Controller Design For Attitude And Altitude Controlling Of Quad-Rotor Under Disturbance And Noisy Conditions, American Journal of Applied Sciences, Vol. 10, (8), pp. 819-831, 2013.
https://doi.org/10.3844/ajassp.2013.819.831

El Hamidi, K., Mjahed, M., El Kari, A., Ayad, H., Neural and Fuzzy Based Nonlinear Flight Control for an Unmanned Quadcopter, (2018) International Review of Automatic Control (IREACO), 11 (3), pp. 98-106.
https://doi.org/10.15866/ireaco.v11i3.14055

H. Lim, J. Park, D. Lee, H.J. Kim, Build Your Own Quadrotor, IEEE Robot. Automat. Mag., September 2012.
https://doi.org/10.1109/mra.2012.2205629

H. C. T. E. Fernando, A. T. A. De Silva, M. D. C. De Zoysa, K. A. D. C. Dilshan and S. R. Munasinghe, Modelling, simulation and implementation of a quadrotor UAV, IEEE 8th International Conference on Industrial and Information Systems, Peradeniya, 2013, pp. 207-212, 2013.
https://doi.org/10.1109/iciinfs.2013.6731982

E. Kuantama, T. Vesselenyi, S. Dzitac, R. Tarca, PID and Fuzzy-PID Control Model for Quadcopter Attitude with Disturbance Parameter, International Journal Of Computers Communications & Control, Vol. 12, No. 4, 519-532, August 2017.
https://doi.org/10.15837/ijccc.2017.4.2962

M. A. Khodja, M. Tadjine, M.S. Boucherit, M. Benzaoui, Tuning PID Attitude Stabilization of a Quadrotor Using Particle Swarm Optimization (Experimental), International Journal for Simulation and Multidisciplinary Design Optimization, Vol.8, A8, 2017.
https://doi.org/10.1051/smdo/2017001

M. A. Khodja, M. Tadjine, M.S. Boucherit, M. Benzaoui, Experimental Dynamics Identification and Control of a Quadcopter, 6th International Conference on Systems and Control (ICSC), Batna, pp. 498-502, 2017.
https://doi.org/10.1109/icosc.2017.7958668

https://www.pjrc.com/store/teensy32.html , 31-05-2017.

https://pixhawk.org/modules/px4flow , 31-05-2017.

https://github.com/mjs513/FreeIMU-Updates, 31-05-2017.

https://github.com/DeveloperPaul123/Teensy-Quadcopter,31-05-2017.

G. Mallesham, S. Mishra, A. N. Jha, Ziegler-Nichols based controller parameters tuning for load frequency control in a microgrid. Proc. Int. Conf. Energy Automation and Signal, Bhubaneswar, Odisha, pp. 1-8, 2011.
https://doi.org/10.1109/iceas.2011.6147128

Bunjaku, D., Nadzinski, G., Stankovski, M., Stefanovski, J., Dynamic Modeling and Flight Control Design for Multicopter, (2018) International Review of Aerospace Engineering (IREASE), 11 (5), pp. 224-235.
https://doi.org/10.15866/irease.v11i5.15512

Penkov, I., Aleksandrov, D., Efficiency Optimization of Mini Unmanned Multicopter, (2017) International Review of Aerospace Engineering (IREASE), 10 (5), pp. 267-276.
https://doi.org/10.15866/irease.v10i5.12132

Manzoor, M., Maqsood, A., Hasan, A., Quadratic Optimal Control of Aerodynamic Vectored UAV at High Angle of Attack, (2016) International Review of Aerospace Engineering (IREASE), 9 (3), pp. 70-79.
https://doi.org/10.15866/irease.v9i3.8119

Alsahlani, A., Rahulan, T., A Mathematical Model of a Conceptual Design Approach of High Altitude Solar Powered Unmanned Aerial Vehicles, (2017) International Review of Aerospace Engineering (IREASE), 10 (4), pp. 196-206.
https://doi.org/10.15866/irease.v10i4.11774

Vavilov, V., Ismagilov, F., Khayrullin, I., Karimov, R., Multi-Disciplinary Design of High-RPM Electric Generator with External Rotor for Unmanned Aerial Vehicle, (2016) International Review of Aerospace Engineering (IREASE), 9 (4), pp. 123-130.
https://doi.org/10.15866/irease.v9i4.10340

Higashino, S., Maruyama, Y., Flight Demonstration of Realtime Path Planning of an UAV Using Evolutionary Computation and Rule-Based Hybrid Method, (2018) International Journal on Engineering Applications (IREA), 6 (5), pp. 156-162.
https://doi.org/10.15866/irea.v6i5.16629


Refbacks

  • There are currently no refbacks.



Please send any question about this web site to info@praiseworthyprize.com
Copyright © 2005-2020 Praise Worthy Prize