期刊名称：TELKOMNIKA (Telecommunication Computing Electronics and Control)
印刷版ISSN：2302-9293
出版年度：2016
卷号：14
期号：2A
页码：231-240
DOI：10.12928/telkomnika.v14i2A.4354
语种：English
出版社：Universitas Ahmad Dahlan
摘要：The UAV system has been widely applied in various military and civil fields. This technology mainly is applied to radar positioning, wild fire management, agricultural monitoring, environmental monitoring, aerial photography and search and rescue mission. It conducts real-time monitoring and control on the inclination angle, inclination angle speed and accelerated speed of inclination angle based on the flight attitude control of the multi rotor UVA. Secondly, it controls the swing deflection of rotor, motor speed, inclination angle control and speed based on the optimal solution ability to overall search of the genetic algorithm to achieve the real time optimization of parameters. Then, it establishes the servo unit with direct torque current which will be combined with the sliding mode controller to reconfigure the sliding mode variable structure controller with direct torque to carry out control on the motor balance in advance. The experiment results show that the servo unit with direct torque current together with genetic algorithm realizes the error correction of the hovering rotor of UVA; during the dynamic control of the UAV fight, the gyroscope is sensitive to the change of the aerial carrier attitude and then the correction to the drift of gyroscope can be realized to provide stable reliability control for the whole UAV flight.
其他摘要：The UAV system has been widely applied in various military and civil fields. This technology mainly is applied to radar positioning, wild fire management, agricultural monitoring, environmental monitoring, aerial photography and search and rescue mission. It conducts real-time monitoring and control on the inclination angle, inclination angle speed and accelerated speed of inclination angle based on the flight attitude control of the multi rotor UVA. Secondly, it controls the swing deflection of rotor, motor speed, inclination angle control and speed based on the optimal solution ability to overall search of the genetic algorithm to achieve the real time optimization of parameters. Then, it establishes the servo unit with direct torque current which will be combined with the sliding mode controller to reconfigure the sliding mode variable structure controller with direct torque to carry out control on the motor balance in advance. The experiment results show that the servo unit with direct torque current together with genetic algorithm realizes the error correction of the hovering rotor of UVA; during the dynamic control of the UAV fight, the gyroscope is sensitive to the change of the aerial carrier attitude and then the correction to the drift of gyroscope can be realized to provide stable reliability control for the whole UAV flight.
