MAV control system design based on virtual instrument

Author

Lingling Wang ; Li Fu ; Chengyu Feng

Author_Institution

Autom. Sci. & Electron. Eng. Dept., Beihang Univ., Beijing, China

fYear

2014

fDate

8-10 Aug. 2014

Firstpage

474

Lastpage

479

Abstract

A new design scheme of micro Rotorcraft Unmanned Aerial Vehicle (MRUAV) control system based on Virtual Instrument (VI) is developed in this paper. The control platform constructed by NI CompactRIO (a VI device) is used to realize the flight data acquisition, control algorithm design and control command transmission instead of the conventional flight controller. Considering the inaccuracy of the mathematical model and the adverse influence of high-frequency vibration, the Active Disturbance Rejection Controller (ADRC) not relying on the accurate mathematical model of controlled plant is selected as the control algorithm. The suitable ADRC parameters are recognized through successive approximation with the help of the online debugging function of VI. Finally, Flight experiments show the validity of the control system.

Keywords

active disturbance rejection control; autonomous aerial vehicles; control engineering computing; control system synthesis; helicopters; microrobots; mobile robots; virtual instrumentation; ADRC; MRUAV control system design; VI; active disturbance rejection controller; microrotorcraft unmanned aerial vehicle; virtual instrument; Algorithm design and analysis; Brushless motors; Control systems; Engines; Nickel; Pulse width modulation; Rotors;

fLanguage

English

Publisher

ieee

Conference_Titel

Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese

Conference_Location

Yantai

Print_ISBN

978-1-4799-4700-3

Type

conf

DOI

10.1109/CGNCC.2014.7007269

Filename

7007269