Application of SIMC Based Quad-rotor Cascade Control by Using 1-axis Attitude Control Test-bench

1축 자세제어실험 장비를 이용한 SIMC 기반 쿼드로터 Cascade 제어기 적용에 관한 연구

Choi, Yun-sung;You, Young-jin;Jeong, Jin-seok;Kang, Beom-soo

  • Received : 2015.10.16
  • Accepted : 2015.12.23
  • Published : 2015.12.30


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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Supported by : 한국연구재단