TY - GEN
T1 - MAV control system design based on virtual instrument
AU - Wang, Lingling
AU - Fu, Li
AU - Feng, Chengyu
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/1/12
Y1 - 2015/1/12
N2 - A new design scheme of micro Rotorcraft Unmanned Aerial Vehicle (MRUAV) control system based on Virtual Instrument (VI) is developed in this paper. The control platform constructed by NI CompactRIO (a VI device) is used to realize the flight data acquisition, control algorithm design and control command transmission instead of the conventional flight controller. Considering the inaccuracy of the mathematical model and the adverse influence of high-frequency vibration, the Active Disturbance Rejection Controller (ADRC) not relying on the accurate mathematical model of controlled plant is selected as the control algorithm. The suitable ADRC parameters are recognized through successive approximation with the help of the online debugging function of VI. Finally, Flight experiments show the validity of the control system.
AB - A new design scheme of micro Rotorcraft Unmanned Aerial Vehicle (MRUAV) control system based on Virtual Instrument (VI) is developed in this paper. The control platform constructed by NI CompactRIO (a VI device) is used to realize the flight data acquisition, control algorithm design and control command transmission instead of the conventional flight controller. Considering the inaccuracy of the mathematical model and the adverse influence of high-frequency vibration, the Active Disturbance Rejection Controller (ADRC) not relying on the accurate mathematical model of controlled plant is selected as the control algorithm. The suitable ADRC parameters are recognized through successive approximation with the help of the online debugging function of VI. Finally, Flight experiments show the validity of the control system.
UR - https://www.scopus.com/pages/publications/84922541158
U2 - 10.1109/CGNCC.2014.7007269
DO - 10.1109/CGNCC.2014.7007269
M3 - 会议稿件
AN - SCOPUS:84922541158
T3 - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
SP - 474
EP - 479
BT - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Y2 - 8 August 2014 through 10 August 2014
ER -