PID Control Optimization Design of Liquid Oscillation for Quadcopter Drone: Qualitatively Explore the Effects of Liquid Shaking and Improve it

Jiaqi Du

doi:10.47297/taposatWSP2633-456906.20230402

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PID Control Optimization Design of Liquid Oscillation for Quadcopter Drone: Qualitatively Explore the Effects of Liquid Shaking and Improve it

4卷第2期

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PID Control Optimization Design of Liquid Oscillation for Quadcopter Drone: Qualitatively Explore the Effects of Liquid Shaking and Improve it
PID Control Optimization Design of Liquid Oscillation for Quadcopter Drone: Qualitatively Explore the Effects of Liquid Shaking and Improve it
College of Mechanical Engineering of Southwest Jiaotong University,Sichuan,Chengdu,P.R.China,611756
2023年4卷第2期页码：38-45
纸质出版日期： 2023 ，
DOI：10.47297/taposatWSP2633-456906.20230402

Full txt

(2023). PID Control Optimization Design of Liquid Oscillation for Quadcopter Drone: Qualitatively Explore the Effects of Liquid Shaking and Improve it. 科技理论与实践（英文版）, 4(2), 38-45.

Jiaqi Du. (2023). PID Control Optimization Design of Liquid Oscillation for Quadcopter Drone: Qualitatively Explore the Effects of Liquid Shaking and Improve it. Theory and Practice of Science and Technology, 4(2), 38-45.
(2023). PID Control Optimization Design of Liquid Oscillation for Quadcopter Drone: Qualitatively Explore the Effects of Liquid Shaking and Improve it. 科技理论与实践（英文版）, 4(2), 38-45. DOI： 10.47297/taposatWSP2633-456906.20230402.

Jiaqi Du. (2023). PID Control Optimization Design of Liquid Oscillation for Quadcopter Drone: Qualitatively Explore the Effects of Liquid Shaking and Improve it. Theory and Practice of Science and Technology, 4(2), 38-45. DOI： 10.47297/taposatWSP2633-456906.20230402.

摘要

Abstract

UAVs carrying liquids are subjected to imbalance caused by liquid shaking during flight

which leads to shaking of the UAV itself

especially when braking sharply. While most of the existing studies at home and abroad focus on the structural optimisation of the tank itself

such as adding damping

and most of the research into wobble generation is wind force very few optimise the shaking caused by the liquid by means of a controller. In this paper

we study to reduce the shaking of UAV based on PID control

which can reduce the structural complexity of the water tank and lower the cost. In this paper

we first establish the mathematical equations of UAV dynamics and the equations of liquid-carrying UAV dynamics

and build their Simulink models to regulate their motion by PID. The study shows that the effect caused by liquid shaking is not negligible

and the model in this paper can well optimise this shaking and pave the way for future research on UAVs carrying more dynamic objects.

关键词

Keywords

Unmanned aerial vehicle(UAV)Attitude controlMATLAB/SimulinkPID controlLiquid disturbanceModelling

references

Liang Zhang. (2021). Analysis of the principle of plant protection drone technology and its advantages and disadvantages applied in agricultural production. Agricultural Machinery Use and Maintenance, 04(02), 133-34.[2] Zhi Chai. (2020). Research on attitude control of quadrotor UAV. Thesis of North Central University.[3] Wentao Jiang, Haiying Li, Shaoqian Liu, et al. (2023). Fuzzy PID-based flight attitude control of a quadrotor UAV. Energy Conservation, 42(04), 22-25.[4] Yongchun Li & Yipeng Ou. (2017). Discussion on some problems in liquid sway dynamics. In: The 26th National Structural Engineering Conference. Changsha, pp. 455-59.[5] Wenjun Wu, Chao Li, Chaonan Gao. (2021). Experimental and kinetic characterisation of liquid shaking in a spherical storage tank. Experimental Mechanics, 36(06), 849-59.[6] Bengang Han & Shibin Mao. (2023). Matlab-based assisted UAV flight control law design. Yangtze River Information and Communication, 36(04), 14-17.[7] Xingming Yang & Wenjing Li. (2016). Quadrotor control based on sliding mode controller. Journal of Hefei University of Technology, 39(07), 924-28.[8] Xi Li, Junxiong Zhang, Feng Qu, et al. (2017). Optimised design of anti-shaking inner cavity structure of medicine box for agricultural drones. Journal of Agricultural Engineering, 33(18), 72-79.[9] Jizhou Zeng, Yanpeng Li, Qingming Lin, et al. (2023). Experiment on medicine shaking inhibition of plant protection UAV based on floating plate structure. Journal of Agricultural Machinery, 54(06), 94-103.[10]Chen Liu. (2021). Research on control algorithm of quadcopter UAV under wind field interference environment. University of Science and Technology of Nanjing Thesis.

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