Wireless Airplane PID Control Integral Element Reduction
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Solution Overview
Problem
Wireless controlled airplanes using PID control often exhibit unnatural flight behaviors, such as difficulty in course adjustment during straight flight and unintended turns, due to weathercock stability issues, making control challenging for operators.
Innovation Solution
The implementation of a first actuator control section that reduces or eliminates the integral element in PID control for other actuators based on operation signals, allowing for switching to P-control or PD-control, thereby reducing unnatural behaviors during specific flight maneuvers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If PID control is implemented for pose maintenance, then pose maintenance ability is improved, but flight behavior becomes unnatural and control difficulty increases
Solution Approach 1:
The patent applies dynamics by making the control algorithm adaptive rather than static. The control section dynamically switches between PID control and P-control based on flight conditions detected by sensors. During straight flight, PID control maintains pose stability, while during turning maneuvers, the system transitions to P-control for more natural and predictable flight behavior, resolving the contradiction between stability and ease of operation.
Solution Approach 2:
The patent changes control parameters (switching between different control modes) based on flight conditions. By detecting whether the airplane is in straight flight or turning maneuver and adjusting the control algorithm accordingly, the system achieves both pose maintenance during stable flight and natural behavior during maneuvers, eliminating the unnatural weathercock stability effect.
2Stability of the object's composition
If PID control is used for rudder actuator, then course stability is improved, but course adjustment difficulty increases after turning
Solution Approach 1:
The control section dynamically adjusts the control algorithm for the rudder actuator based on detected flight maneuvers. During straight flight, PID control provides stable course maintenance. When a turning maneuver is detected, the system switches to P-control, which eliminates the integral component that causes weathercock stability, thereby enabling smooth and natural course adjustment after turning without difficulty.
3Reliability
If integral element is maintained in PID control during all operations, then pose maintenance is improved, but unintended course deviations occur
Solution Approach 1:
The system preemptively switches control modes to prevent harmful effects. By detecting turning maneuvers in advance and switching from PID to P-control before the airplane completes the turn, the system prevents the integral element from generating unintended course deviations (weathercock stability) that would otherwise occur during and after the maneuver.
Solution Approach 2:
The control algorithm dynamically adapts to flight conditions by switching between PID and P-control modes. During turning maneuvers, the system transitions to P-control which eliminates the integral component responsible for unintended course deviations, while maintaining pose maintenance capability through proportional control, thereby resolving the contradiction between pose maintenance and prevention of harmful deviations.
Data Source
AI summary
An objective of the present invention is to eliminate unnatural behaviors of a wireless controlled airplane during PID control. In a wireless controlled airplane, a receiving section receives a first operation signal for a first actuator, a second operation signal for a second actuator, and a third operation signal for a third actuator, wherein the first, second and third operation signals are provided as operation signals wirelessly transmitted. A first actuator control section is configured to generate an actuation signal for the first actuator by means of PID control depending on the first operation signal, and to reduce an integral element in the PID control depending on an operation value for the second or third operation signal. Alternatively, the first actuator control section is configured to perform switching to a control without an integral element from the PID control.