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The control method of a quadrotor driven by bidirectional electronic speed controllers.
Lihao Xu1,2, Zhiduan Cai3,4, Yuling Wang1,2
1School of Intelligent Manufacturing, Huzhou College, Xueshi Rd.1, Huzhou, Zhejiang, China.
Scientific Reports
|August 22, 2024
Summary
This study introduces a dynamic quadrotor unmanned aircraft vehicle using bidirectional electronic speed controllers for improved flight maneuverability. Fractional order PID controllers and a novel control allocation matrix enhance stability and rapid deceleration capabilities.
Area of Science:
- Robotics and Control Systems
- Aerospace Engineering
- Unmanned Aerial Vehicles
Background:
- Traditional quadrotor control systems face limitations in rapid deceleration and maneuverability.
- Enhancing flight stability and responsiveness is crucial for advanced UAV applications.
Purpose of the Study:
- To propose a dynamic quadrotor unmanned aircraft vehicle (UAV) system with enhanced maneuverability and stability.
- To investigate the application of bidirectional electronic speed controllers (BESCs) for rapid motor deceleration in quadrotors.
- To develop and evaluate advanced fractional order Proportional-Integral-Derivative (PID) controllers and a novel control allocation matrix for improved performance.
Main Methods:
- Implementation of bidirectional electronic speed controllers (BESCs) for precise motor speed control.
- Design and application of fractional order Proportional-Integral-Derivative (PID) controllers for superior rapidity.
- Development of an innovative control allocation matrix incorporating direction symbols for enhanced control allocation.
- Simulation-based validation of the proposed quadrotor model, controllers, and allocation methods.
Main Results:
- The integration of BESCs enabled rapid deceleration of motors, significantly improving quadrotor agility.
- Fractional order PID controllers demonstrated superior rapidity and responsiveness compared to conventional PID controllers.
- The developed control allocation matrix effectively managed control commands for improved attitude and position tracking.
- Simulations confirmed the effectiveness of the proposed dynamic quadrotor system in achieving precise flight control.
Conclusions:
- The proposed dynamic quadrotor UAV system, incorporating BESCs and fractional order PID controllers, offers enhanced maneuverability and stability.
- The innovative control allocation matrix further contributes to the system's superior performance in attitude and position tracking.
- This approach provides a robust framework for advanced quadrotor control applications requiring high agility and precision.
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