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Performance Comparison Between Pid And Lqr Controllers For Drone Application

In industries of unmanned aerial vehicle (UAV), the implementation of a motor control system is essential to ensure the system mechanism can be operated efficiently. In addition, DC servo motor systems are widely applied in a variety of fields of UAV. They are used to generate electrical power in...

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Main Author: Zamree, Alif Imran
Format: Monograph
Language:English
Published: Universiti Sains Malaysia 2021
Subjects:
T Technology
Online Access:http://eprints.usm.my/54501/1/Performance%20Comparison%20Between%20Pid%20And%20Lqr%20Controllers%20For%20Drone%20Application.pdf
http://eprints.usm.my/54501/
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spelling my.usm.eprints.54501 http://eprints.usm.my/54501/ Performance Comparison Between Pid And Lqr Controllers For Drone Application Zamree, Alif Imran T Technology In industries of unmanned aerial vehicle (UAV), the implementation of a motor control system is essential to ensure the system mechanism can be operated efficiently. In addition, DC servo motor systems are widely applied in a variety of fields of UAV. They are used to generate electrical power in power plants and to supply mechanical motive power to operate the UAV and manage numerous industrial operations in industrial settings. In some application of the DC servo motor, when load is applied, or disturbance occur during the operation, the DC servo motor is required to maintain its desired speed to ensure the stability and efficiency of the system. This system can be controlled using PID, Fuzzy, LQR and other more. The PID algorithm becomes a closed loop system when it is added to the motor. The system is developed in MATLAB software, and the PID algorithm is tuned by adjusting the values of proportional gain, Kp, integral gain, Ki, and derivative gain, Kd to get a motor speed and position that is less overshoot, has a longer settling time, and has a longer rise time. To control the Dc servo motor speed and position, the Linear Quadratic Regulator (LQR) controller is introduced. The LQR controller is designed and tuned using MATLAB/Simulink, and it is simulated using a mathematical model of a DC servo motor. A new approach of controlling the motor is the Linear Quadratic Regulator (LQR) controller. The Linear Quadratic Regulator (LQR) is an optimum control theory that focuses on controlling a dynamic system at the lowest possible cost. The purpose of the Linear Quadratic Regulator (LQR) is to minimize the deviation of the motor's speed and position. The input voltage of the motor will be specified by the motor's speed, and the output will be compared to the input. The advantages of using LQR are that it is simple to build and that it improves the accuracy of state variables by estimating them. When contrasted to pole placement, the LQR control has the advantage of specifying a set of performance weighting rather than needing to define where eigenvalues should be positioned, which may be more intuitive. Universiti Sains Malaysia 2021-06-01 Monograph NonPeerReviewed application/pdf en http://eprints.usm.my/54501/1/Performance%20Comparison%20Between%20Pid%20And%20Lqr%20Controllers%20For%20Drone%20Application.pdf Zamree, Alif Imran (2021) Performance Comparison Between Pid And Lqr Controllers For Drone Application. Project Report. Universiti Sains Malaysia, Pusat Pengajian Kejuruteraan Aeroangkasa. (Submitted)
institution Universiti Sains Malaysia
building Hamzah Sendut Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Sains Malaysia
content_source USM Institutional Repository
url_provider http://eprints.usm.my/
language English
topic T Technology
spellingShingle T Technology
Zamree, Alif Imran
Performance Comparison Between Pid And Lqr Controllers For Drone Application
description In industries of unmanned aerial vehicle (UAV), the implementation of a motor control system is essential to ensure the system mechanism can be operated efficiently. In addition, DC servo motor systems are widely applied in a variety of fields of UAV. They are used to generate electrical power in power plants and to supply mechanical motive power to operate the UAV and manage numerous industrial operations in industrial settings. In some application of the DC servo motor, when load is applied, or disturbance occur during the operation, the DC servo motor is required to maintain its desired speed to ensure the stability and efficiency of the system. This system can be controlled using PID, Fuzzy, LQR and other more. The PID algorithm becomes a closed loop system when it is added to the motor. The system is developed in MATLAB software, and the PID algorithm is tuned by adjusting the values of proportional gain, Kp, integral gain, Ki, and derivative gain, Kd to get a motor speed and position that is less overshoot, has a longer settling time, and has a longer rise time. To control the Dc servo motor speed and position, the Linear Quadratic Regulator (LQR) controller is introduced. The LQR controller is designed and tuned using MATLAB/Simulink, and it is simulated using a mathematical model of a DC servo motor. A new approach of controlling the motor is the Linear Quadratic Regulator (LQR) controller. The Linear Quadratic Regulator (LQR) is an optimum control theory that focuses on controlling a dynamic system at the lowest possible cost. The purpose of the Linear Quadratic Regulator (LQR) is to minimize the deviation of the motor's speed and position. The input voltage of the motor will be specified by the motor's speed, and the output will be compared to the input. The advantages of using LQR are that it is simple to build and that it improves the accuracy of state variables by estimating them. When contrasted to pole placement, the LQR control has the advantage of specifying a set of performance weighting rather than needing to define where eigenvalues should be positioned, which may be more intuitive.
format Monograph
author Zamree, Alif Imran
author_facet Zamree, Alif Imran
author_sort Zamree, Alif Imran
title Performance Comparison Between Pid And Lqr Controllers For Drone Application
title_short Performance Comparison Between Pid And Lqr Controllers For Drone Application
title_full Performance Comparison Between Pid And Lqr Controllers For Drone Application
title_fullStr Performance Comparison Between Pid And Lqr Controllers For Drone Application
title_full_unstemmed Performance Comparison Between Pid And Lqr Controllers For Drone Application
title_sort performance comparison between pid and lqr controllers for drone application
publisher Universiti Sains Malaysia
publishDate 2021
url http://eprints.usm.my/54501/1/Performance%20Comparison%20Between%20Pid%20And%20Lqr%20Controllers%20For%20Drone%20Application.pdf
http://eprints.usm.my/54501/
_version_ 1744354432607322112
score 13.211869

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