2012 International Symposium on Safety Science and Technology On-line adaptive controller system used on small UAV

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1 Avaia onin at Procdia Enginring 45 ( ) Intrnationa Symposim on Safty Scinc and Tchnoogy On-in adaptiv contror systm sd on sma UAV GAO Tongy*, TANG Ri, RAO Jnjin, LUO Jn, GONG Zhnang Dpartmnt of Prcision Mchanica Enginring Shanghai Univrsity, P.O.Box 8,Yanchang Road 49, Shanghai 7, China Astract Sinc Sma Unmannd Hicoptr fight attitd contro procss has strong tim- varying charactristics, and thr ar random distrancs, th convntiona contro mthods with nchangd paramtrs ar oftn nworka. An on-in adaptiv ADRC contro systm is dsignd in this papr. An on-in adaptiv ADRC systm impmnts a simtanos on-in tning of ADRC rs. Th fight xprimnt showd that th proposd adaptiv ADRC systm provids qickr rspons, smar ovrshoot, highr prcision, rostnss and adaptiv aiity. It satisfis th nds of atonomos fight Th Athors. Pishd y Esvir Ltd. Sction and/or pr-rviw ndr rsponsiiity of th Bijing Institt of Tchnoogy. Opn accss ndr CC BY-NC-ND icns. Kywords: sma UAV; on-in adaptiv; ADRC Nomncatr th contro goa th diffrntia of th contro goa th stat varia th diffrntia of th stat varia th intrfrnc varia th rror varia th diffrntia of th rror varia th initia contro varia th contro varia. Introdction Hicoptrs wod vry sitd for inspctions and srvianc tasks, tc., d to thir -dimnsiona manvraiity. Rcnt dramatic progrss of ctrics and comptr tchnoogis is contriting to dvopmnt of an atonomos oprating systm for sma nmannd hicoptrs (SUH). Onc a sma nmannd hicoptr is fy raid, it is possi to oprat th hicoptr otsid an oprator s dirct in of sight, faciitating hicoptr transport and opration. Sch a compact * Corrsponding athor. T.: ; fax: E-mai addrss: gty@sh.d.cn Spportd y Nationa Natra Scinc Fondation of China (558, 595) Pishd y Esvir Ltd. Opn accss ndr CC BY-NC-ND icns. doi:.6/j.prong..8.69

2 GAO Tongy t a. / Procdia Enginring 45 ( ) hicoptr can stord in imitd spac, and opration not invoving diffict mana fight opration rdcs dvopmnt, prchas, and opration costs whi nsring sprior safty and riaiity. Thrfor, on th asis of th anaysis of th two nw aircraft, tit-rotor aircraft and dctd fan aircraft, th rsarch tam comins th advantags of th two and proposs a nw typ of SUH: da dctd titing spr-mini UVA systm (Fig.). Th aircraft changs th ift forc of th aircraft y titing th systm to chang attitd for th prpos of frthr navigation fight. Nw nconvntiona aria vhics provid nov vhic patforms that aow for a wid oprating nvop that hav th potntia to spciay sf in sarch and rsc oprations. Fig.. Nw kind of sma UAV systm. Activ Distranc Rjction Contror (ADRC) is vovd from th Noninar PID contror. It inhrits th PID contror s simpicity, asiy to impmnt, and good rostnss advantags[], and ovrcoms th PID advantags of having no nrasona mthods for rror xtracting, no approach to xtract rror diffrntia, and hard to find an ida cofficint comination of a systm. It taks th systm s intrna distranc and xtrna distranc as tota distranc, and thn compnsat for this tota distranc[]. At prsnt, th ADRC is widy sd in many rootic systms. ADRC agorithm is compx, and has many paramtrs to tnd. Paramtrs appropriat or not dircty ratd to th ADRC contro ffct of acta ojct. ADRC common paramtr tning mthod is s comptr-aidd softwar or sf softwar to stimat and sct th paramtrs, which maks th systm prformanc can t gain an optimm prformanc. In this papr, a nw Adaptiv ADRC contror is dsignd, which impmnt an Adaptiv contro mod to adjst th ADRC contro paramtrs. Finay, s th vctor systm of th aircraft, ndrwatr roots, and othr vrification to prov th fasiiity of th mthod, and gt good rsts.. Mthodoogy for adaptiv ADRC contror.. Activ distranc rjction contror (ADRC) Th ock diagram of ADRC is shown in Fig.. ADRC Contror Compt agorithm is foows[]. Using inpt, Arrangmnt Transition Procss fh fhan(, h hfh, r, h) as ()

3 98 GAO Tongy t a. / Procdia Enginring 45 ( ) y / Fig.. Bock diagram of ADRC. () Using th inpt and otpt of a systm to track and stimat th systm stat and prtration. y, f fa(,.5, ), f fa(,.5, ) whr is a st of paramtrs. () Law of stat rror fdack h( h( h( ) f f ) ) (), k(,, p) () whr p is a st of paramtrs. () Distranc compnsation procss ( t) (4).. Arrangmnt for th transition procss asd on Adaptiv agorithm Th fnction fhan( x, x, r, h) in Arrangmnt Transition Procss is a scond-ordr discrt systm s optima Intgratd contro fnction: x ( k x ( k ) ) x ( k) x ( k) hx ( k) h, r (5) In Arrangmnt Transition Procss, it is hard to accraty maintain th otpt spd at ro and th otpt may of high-frqncy viration. Th ongr th stp, th gratr th viratory ampitd wi. In ordr to wakn th high-frqncy viratory signa, w can choos a shortr stp. Bt, at th sam tim, a shortr stp wi ring a sowr corrsponding rat. In an acta systm, inpts and otpts can masrd. So in this pag

4 GAO Tongy t a. / Procdia Enginring 45 ( ) w s a ssidiary sf-immnity systm--- On-in Adaptiv Contror (shown in Fig.) to adjst th arrangmnts of th transition procss[4]. y / Fig.. Bock diagram of Adaptiv --- ADRC. Whn th rror twn acta otpt and dsird otpt is arg, th on-in adaptiv contror maks th stp to ongr. So th otpts can qicky rach to th inpts. Whn th rror twn acta otpt and dsird otpt is sma, th focs is to iminat th otpt s high frqncy viration. So th On-in Adaptiv Contror maks th stp shortr, and th otpts wi with wakr viration. Th inpt of th On-in Adaptiv Contror is th rror and th rror changing rat twn th inpt and otpt of th contro ojct. Howvr, it is apparnty irrationaity to add th modificatory data to a ADRC rs. Th rason is that it is not a ADRC rs to answr for th otpt rror of th crrnt stat. To this qstion, this papr pts forward th foowing arithmtic: h ( ) ( ) : h (,,, n ) () () whr h fhan( x, x, r, h) is th modificatory data of stp h ; is th otpt of th On-in Adaptiv Contror ; (,,, n) is th rsponsiiity cofficint. This papr pts forward th rsponsiiity cofficint : whr (,,, n ) C ( ) i i (7) C is th normaiation cofficint, is th magnitd of th otpt of th on-in adaptiv ADRC () contror; is th smi-cofficint of rsponsiiity. As it is rasona that th magnitd of ADRC rs shows its rsponsiiity to th otpt rror of th crrnt stat, th adaptiv ADRC systm maks chang to ach r y ADRC contror asd on rsponsiiity cofficint.. Soft Systm of Sma nmannd hicoptrs W dsignd th softwar systm of th fight contro systm of th SUAV sch as Figr 4. In softwar architctr, th fight contro systm foows a two cascad contror dsign with an innr and otr contror. Th innr oop contro systm is attitd contror which is composd of thr SISO ADRC contrors: pitch ADRC, ro ADRC and yaw ADRC. Th attitd contror is most important part of th softwar systm cas that th attitd of SUAV is th fndamnt of th momnt of th SUAV. For xamp, if th SUAV wants to fy ahad, it mst ow th had, C M ( ( n i n i ( x )) i i ( x )) i (6)

5 984 GAO Tongy t a. / Procdia Enginring 45 ( ) in othr words, dcrasing th pitch ang. So a instaiity charactrs of SUAV focs on th attitd of th SUAV that is aso th rason that th innr oop contro systm adopts th adaptiv ADRC contro arithmtic. Basd on th innr oop contror systm, th otr oop contror, navigation contro systm, is composd of thr SISO PID contrors: trajctory contror, atitd contror and spd contror. Th otr oop contror gt th command from th position contror. Fig.4. Proposd softwar architctr of th fight contro systm. 4. Exprimnt Finay, in ordr to vrify th contro agorithm ADRS, in this papr, xprimnt on th mini nmannd hicoptr, tra-compact ndrwatr roots, rootic systms, hav achivd good rsts. Parts of th mini nmannd hicoptr, th acta fight tst data shown in Figs Fig.5. Data of pitch chann of SUAV systm. Fig.6. Data of ro chann of SUAV systm. In th data graph of Fig. 5 and Fig. 6 th rd soid ins rprsnt th targt attitd ang and th dottd in rprsnts th acta attitd ang. From th data can s: th dsign of th contro systm asd on adaptiv sf-

6 GAO Tongy t a. / Procdia Enginring 45 ( ) distranc rjction contror has good static and dynamic prformanc. Adaptiv ADRC contror fy mts th nds of th tra-sma nmannd hicoptr root contro systm. 5. Concsion Sma UAV fight attitd contro procss has strong tim- varying charactristics, and thr ar random distrancs. Th convntiona contro mthods with nchangd paramtrs ar oftn nworka. An on-in adaptiv ADRC contro systm is dsignd. An on-in adaptiv ADRC systm impmnts a simtanos on-in tning of ADRC rs. Th fight xprimnt showd that th proposd adaptiv ADRC systm provids qickr rspons, smar ovrshoot, highr prcision, rostnss and adaptiv aiity. It satisfis th nds of atonomos fight of sma UAV. Acknowdgmnts This papr is spportd y nationa Scinc Fondation of China ndr Grant No.558 and 595. Rfrncs [] Han Jingqing., 994 A nw typ of contror: NLPID, Contro and Dcision, 9(6), p: (in Chins) [] Han Jingqing, 998. Ato-distrancs-rjction cont ror and it s appications, Contro and Dcision, (), p. 9-. (in Chins) [] Han Jingqing, 9. Activ Distranc Rjction Contro Tchniq --- th tchniq for stimating and compnsating th ncrtaintis. Nationa Dfnc Indstry Prss, Bijing, pp [4] Gao Tongy, Ding Wi,. An Contro Systm For th Inrtia Staiisd Pan-Tit Systm, Comptr Masrmnt & Contro, (8), p. -6. [5] Li Jinkn,. Advancd PID contro mata simation. Pishing Hos of Ectronics Indstry, Bijing,, p. -8. [6] Wang Hao Png Yan,. Yaw-ang contro chann of sminiatr nmannd hicoptr asd on ADRC, Advancd Matrias Rsarch, v 5-54, p [7] Dng Liwi. Th dsign for position and attitd contro systm of 5-DOF air-foatd patform asd on ADRC. Procdings of th nd Intrnationa Confrnc on Intignt Contro and Information Procssing, ICICIP, n PART, p 6-65,. [8] Qin, Changmao, Qi Naiming,. ADRC fractiona ordr PID contror dsign of hyprsonic fight vhic[j].transactions of Nanjing Univrsity of Aronatics and Astronatics, v 8, n, p 4-45, Sptmr