Abstract
Flying object used in our research is an experimental device like a helicopter. Helicopter, which has a special characteristics such as hovering, vertical ascent and vertical dive. Therefore, it is widely used at the time of disaster. For example, manned helicopter is used for rescue work, emergency transport and fire fighting. On the contrary, unmanned helicopter is used to get precious information in a danger area for human. But there are problems that the structure is complicated, it has a high nonlinearity. And it is difficult to keep the attitude, because it is influenced by wind in flight. An experimental device in our research has an underactuated system having 2-input and 3-output that has number of input less than number of output. So, this system is able to reduce cost, but to keep the posture is difficult. Therefore, in our research, a stabilization method called two degree-of-freedom PID control has been proposed. It is the system having three degree-of-freedom. Although the effectiveness has been confirmed through the simulation and experimental results in time-domain, the characteristics of the proposed method was just explored by the result of output for step-type reference signal. Therefore, this paper confirms the effectiveness of the proposed method through the simulation and experimental result in frequency-domain in order to check the characteristics of the proposed method.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the SICE Annual Conference |
| Pages | 1192-1196 |
| Number of pages | 5 |
| Publication status | Published - 2013 |
| Event | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan Duration: Sep 14 2013 → Sep 17 2013 |
Other
| Other | 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 |
|---|---|
| Country | Japan |
| City | Nagoya |
| Period | 9/14/13 → 9/17/13 |
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Keywords
- Frequency response
- Two degree-of-freedom PID
- Underactuated flying object
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
Comparison of frequency responses with PID and two degree-of-freedom PID control for underactuated flying object. / Mizokami, Syouya; Yoshikawa, Kohei; Yanou, Akira; Minami, Mamoru; Matsuno, Takayuki.
Proceedings of the SICE Annual Conference. 2013. p. 1192-1196.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Comparison of frequency responses with PID and two degree-of-freedom PID control for underactuated flying object
AU - Mizokami, Syouya
AU - Yoshikawa, Kohei
AU - Yanou, Akira
AU - Minami, Mamoru
AU - Matsuno, Takayuki
PY - 2013
Y1 - 2013
N2 - Flying object used in our research is an experimental device like a helicopter. Helicopter, which has a special characteristics such as hovering, vertical ascent and vertical dive. Therefore, it is widely used at the time of disaster. For example, manned helicopter is used for rescue work, emergency transport and fire fighting. On the contrary, unmanned helicopter is used to get precious information in a danger area for human. But there are problems that the structure is complicated, it has a high nonlinearity. And it is difficult to keep the attitude, because it is influenced by wind in flight. An experimental device in our research has an underactuated system having 2-input and 3-output that has number of input less than number of output. So, this system is able to reduce cost, but to keep the posture is difficult. Therefore, in our research, a stabilization method called two degree-of-freedom PID control has been proposed. It is the system having three degree-of-freedom. Although the effectiveness has been confirmed through the simulation and experimental results in time-domain, the characteristics of the proposed method was just explored by the result of output for step-type reference signal. Therefore, this paper confirms the effectiveness of the proposed method through the simulation and experimental result in frequency-domain in order to check the characteristics of the proposed method.
AB - Flying object used in our research is an experimental device like a helicopter. Helicopter, which has a special characteristics such as hovering, vertical ascent and vertical dive. Therefore, it is widely used at the time of disaster. For example, manned helicopter is used for rescue work, emergency transport and fire fighting. On the contrary, unmanned helicopter is used to get precious information in a danger area for human. But there are problems that the structure is complicated, it has a high nonlinearity. And it is difficult to keep the attitude, because it is influenced by wind in flight. An experimental device in our research has an underactuated system having 2-input and 3-output that has number of input less than number of output. So, this system is able to reduce cost, but to keep the posture is difficult. Therefore, in our research, a stabilization method called two degree-of-freedom PID control has been proposed. It is the system having three degree-of-freedom. Although the effectiveness has been confirmed through the simulation and experimental results in time-domain, the characteristics of the proposed method was just explored by the result of output for step-type reference signal. Therefore, this paper confirms the effectiveness of the proposed method through the simulation and experimental result in frequency-domain in order to check the characteristics of the proposed method.
KW - Frequency response
KW - Two degree-of-freedom PID
KW - Underactuated flying object
UR - http://www.scopus.com/inward/record.url?scp=84888631155&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84888631155&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84888631155
SP - 1192
EP - 1196
BT - Proceedings of the SICE Annual Conference
ER -