Balance Control of Brushless Direct Current Motor Driven Two-Rotor UAV
Applied Sciences (Switzerland), cilt.14, sa.10, 2024 (SCI-Expanded, Scopus)
- Yayın Türü: Makale / Tam Makale
- Cilt numarası: 14 Sayı: 10
- Basım Tarihi: 2024
- Doi Numarası: 10.3390/app14104059
- Dergi Adı: Applied Sciences (Switzerland)
- Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
- Anahtar Kelimeler: Adaptive Fuzzy 2-DOF PID, BLDC Motor, Co-Simulation, Two-Rotor UAV
- Sivas Cumhuriyet Üniversitesi Adresli: Hayır
Özet
In this study, the balance control of a Brushless Direct Current Motor (BLDCM) driven Two-Rotor UAV (2R-UAV) was carried out. First, a MATLAB/Simulink model of the balance system of the 2R-UAV was built. Afterwards, classical and 2-DOF PID, and proposed Adaptive Fuzzy (AF) 2-DOF PID control structures were created on the STM32F4 microprocessor for both balance angle of the system and speed control of the BLDCMs. Classical and 2-DOF PID controller parameters were determined via Particle Swarm Optimization (PSO), a technique that is commonly used in control applications. For the balance control of the 2R-UAV, a Co-Simulation structure was created using the STM32F4 microprocessor and MATLAB/Simulink, and the performances of classical and 2-DOF PID, and AF 2-DOF PID controllers were examined comparatively. Upon examining the comparison results, it was found that the classical and 2-DOF PID, and AF 2-DOF PID stably controlled the balance of the 2R-UAV. The AF 2-DOF PID controller, proposed in this research, performed better than the classical and 2-DOF PID, especially under variable operating conditions.