期刊名称：Eastern-European Journal of Enterprise Technologies
印刷版ISSN：1729-3774
电子版ISSN：1729-4061
出版年度：2019
卷号：1
期号：9
页码：68-75
DOI：10.15587/1729-4061.2019.155616
语种：English
出版社：PC Technology Center
摘要：The method of implementing an adaptive PID controller using a reference model of an unmanned aerial vehicle is presented. The unmanned aerial vehicle has a nonlinear characteristic and high sensitivity to external influences. The operation of a standard controller in a nonlinear model in the event of disturbing influences does not meet the specified quality criteria. Problems that affect the flight time of the unmanned aerial vehicle are represented by variations in aerodynamic coefficients in the known ranges. Herewith, aerodynamic parameters change, and the system becomes unstable. To eliminate unwanted deviations, an adaptive PID controller loop is introduced into the aerial vehicle control system. Using the reference model of the control object, the adaptation comparator provides the necessary PID controller settings. The introduction of such a correction control signal allows countering various failures and disturbances that lead to uncontrolled control. It was found that this method of control of the unmanned aerial vehicle is very effective, since the obtained result is closer to the experimental one. The study of failures was carried out through the observation of changes in aerodynamic coefficients. The study of changes in aerodynamic coefficients allows failure-free determination of the nominal values of the object coefficients. Such an approach to modeling the unmanned aerial vehicle also makes it possible to solve the economic side of the problem – to conduct experiments in the ANSYS-CFX aerodynamic application without costs for restoring vehicles and structures lost as a result of experimental testing.
关键词：adaptive PID;reference adaptive control model (RACM);aerodynamic coefficients;uncertain model
