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Application of SIMC Based Quad-rotor Cascade Control by Using 1-axis Attitude Control Test-bench
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 Title & Authors
Application of SIMC Based Quad-rotor Cascade Control by Using 1-axis Attitude Control Test-bench
Choi, Yun-sung; You, Young-jin; Jeong, Jin-seok; Kang, Beom-soo;
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This paper reports the single-input-single-output cascade control by using 1-axis attitude control test-bench for quad-rotor UAV. The test-bench was designed as a see-saw shape using 2 motors and propellers, and to enable changing the center of gravity with the center of gyration using ballast. The experiment was carried out by constructing a PID-PID controller having a cascade structure with the test-bench. The SIMC based PID gain tuning process, which makes PID gain tuning easy, was grafted to cascade control. To graft SIMC method, the system parameter estimation result was conducted with second order time delay model by using Matlab-Simulink. Gain tuning was conducted by simulating with estimated system parameter. In this paper, the conventional application of SIMC was conducted and improved application was proposed for improving stability at tuning process.
Cascade control;Quad-rotor;Simple internal model control;Unmanned aerial vehicle;1-axis test-bench;
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회전익 시스템의 시간지연 종속 병렬분산보상제어기 적용과 검증,유영진;최윤성;정진석;송우진;강범수;

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