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FPGA Based Modified Fuzzy PID Controller for Pitch Angle of Bench-top Helicopter
استخدام لوحة FPGA لتصميم منظومة سيطرة من نوع الكسب-التكاملي-التفاضلي المضبب المعدل للسيطرة على زاوية انقلاب الطائرة المروحية

Author: Ammar A. Aldair عمار عبدالشهيد الدير
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2012 Volume: 8 Issue: 1 & 2 Pages: 12-24
Publisher: Basrah University جامعة البصرة

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Abstract

Fuzzy PID controller design is still a complex task due to the involvement of a large number of parameters in defining the fuzzy rule base. To reduce the huge number of fuzzy rules required in the normal design for fuzzy PID controller, the fuzzy PID controller is represented as Proportional-Derivative Fuzzy (PDF) controller and Proportional-Integral Fuzzy (PIF) controller connected in parallel through a summer. The PIF controller design has been simplified by replacing the PIF controller by PDF controller with accumulating output. In this paper, the modified Fuzzy PID controller design for bench-top helicopter has been presented. The proposed Fuzzy PID controller has been described using Very High Speed Integrated Circuit Hardware Description Language (VHDL) and implemented using the Field Programmable Gate Array (FPGA) board. The bench-top helicopter has been used to test the proposed controller. The results have been compared with the conventional PID controller and Internal Model Control Tuned PID (IMC-PID) Controller. Simulation results show that the modified Fuzzy PID controller produces superior control performance than the other two controllers in handling the nonlinearity of the helicopter system. The output signal from the FPGA board is compared with the output of the modified Fuzzy PID controller to show that the FPGA board works like the Fuzzy PID controller. The result shows that the plant responses with the FPGA board are much similar to the plant responses when using simulation software based controller.

في هذا البحث تم تقليل عدد القواعد المستخدمة لبناء منظومة الكسب-التكاملي-التفاضلي المضبب وذلك منخلال بناء منظومة كسب-تفاضلي مضبب على حدة وبناء منظومة الكسب-التكاملي المضبب على حدة ثم ربط المنظومتيينمعا. كما تم استبدال منظومة الكسب-التكاملي المضبب بكسب تفاضلي مضبب واضافة مركم عند الاخراج لتقليل تعقيدالمنضومة الكلية. تم بناء المنظومة المقترحة باستخدام لوحة وتم اختبارها للسيطرة على زاوية انقلاب الطائرةالمروحية. اثبتت النتائج المستحصلة ان استخدام منظومة السيطرة من نوع الكسب-التكاملي-التفاضلي المضبب المعدليكون فعلا مقارنة مع اسنخدام الكسب=تاتكاملي-التفاضلي التقليدي. كما تم مقارنة النتائج المستحصلة عملا مع النتائجالنضرية وقد اثبتت تطابقا ملحوظا في كلا الحالتين.


Article
Hover Control for Helicopter Using Neural Network-Based Model Reference Adaptive Controller

Author: Abdul-Basset A. Al-Hussein
Journal: Iraqi Journal for Electrical And Electronic Engineering المجلة العراقية للهندسة الكهربائية والالكترونية ISSN: 18145892 Year: 2017 Volume: 13 Issue: 1 Pages: 67-72
Publisher: Basrah University جامعة البصرة

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Abstract

Unmanned aerial vehicles (UAV), have enormous important application in many fields. Quanser three degree of freedom (3-DOF) helicopter is a benchmark laboratory model for testing and validating the validity of various flight control algorithms. The elevation control of a 3-DOF helicopter is a complex task due to system nonlinearity, uncertainty and strong coupling dynamical model. In this paper, an RBF neural network model reference adaptive controller has been used, employing the grate approximation capability of the neural network to match the unknown and nonlinearity in order to build a strong MRAC adaptive control algorithm. The control law and stable neural network updating law are determined using Lyapunov theory.

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