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PID Control in UAV Systems Lab

This document outlines Lab #5 for UAV AMET-216, focusing on Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) control of a second-order system. It includes objectives, required components, and a detailed procedure for conducting experiments using MATLAB/SIMULINK and a Quanser Aero system. Students are tasked with adjusting various control gains and observing their effects on system response.

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3 views5 pages

PID Control in UAV Systems Lab

This document outlines Lab #5 for UAV AMET-216, focusing on Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) control of a second-order system. It includes objectives, required components, and a detailed procedure for conducting experiments using MATLAB/SIMULINK and a Quanser Aero system. Students are tasked with adjusting various control gains and observing their effects on system response.

Uploaded by

pixelpeermc
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

UAV

AMET-216

LAB #5
PD and PID Control

Student names and numbers:

1.

2.

3.

Date: Section:

Objectives:

• Second-order system approximation.

• Proportional-integral-derivative (PID) compensator.

• Controlling second-order systems.

• PID design by specification.

Required Components and Instruments

• Quanser Aero Integration laboratory experiment.

• MATLAB/SIMULINK

Mark: /50 /10


Prof. Signature
Procedure:
5.1 Launch MATLAB and browse to the working directory that includes the Simulink models for this lab.

5.2 Make sure the Quanser Aero is configured as the 1 DOF pitch-only system:

• Unlock the pitch axis and lock the yaw axis.


• Both rotors are horizontal.
• Mount the weight on each rotor.

5.3 Connect the USB cable to your PC/laptop.

5.4 Connect the power and turn the power switch ON. The Aero base LED should be red.

5.5 Open the “Lab5_Student.slx”.

5.6 This QUARC® model implements basic command and unity feedback for the Quanser Aero.

5.7 A control signal of 0 fed into the Motor Voltage Gain will command the Quanser Aero to remain at "Level" flight,

that is, with +17V applied to both motors.

5.8 Build and run the QUARC® controller.

5.9 Observe the signals for angle and motor voltages. Show it to your professor, explain, and save to add to your report.

(5 Points)
Proportional-Derivative Control
5.10 Add a transfer function and derivative gain block 𝑘𝑑 in parallel with the proportional gain as shown in Figure 5.2.

5.11 Set the proportional gain to 15 and vary the derivative gain between 0 and 10. Run the QUARC® model with various

derivative gains. What effects does increasing the derivative gain have on the system response? How does the

system response differ when the derivative gain is very small (e.g. <0.25) (10 Points)

5.12 What is the minimum value of 𝑘𝑑 that produces a system with acceptable overshoot? (5 Points)
Proportional-Integral-Derivative Control
5.13 Add an integrator with an integral gain 𝑘𝑖 in parallel with the other two gains as shown in Figure 5.3.

5.14 Keeping the proportional at 10 and the derivative gain at 3, vary the integral gain between 0 and 10. Run the

QUARC® model with various integral gains. What effects does increasing the integral gain have on the system

response? What happens when the integral gain is increased too much? (10 Points)
5.15 Keeping the proportional at 10 and integral gain at 4, vary the derivative gain between 0 and 10. Run the QUARC®

model with various derivative gains. What effects does increasing the derivative gain have on the system response?
(10 Points)

5.16 Keeping the integral gain at 4 and the derivative gain at 3, vary the proportional gain between 0 and 10. Run the

QUARC® model with various proportional gains. What effects does increasing the proportional gain have on the

system response? (10 Points)

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