Diseño y ajuste del algoritmo PID para un rendimiento óptimo del sistema PVTOL
Resumen
En este documento se han introducido diferentes esquemas de diseño para un controlador PID para un solo eje de un quadcopter. Este tipo de modelo también se conoce como sistema PVTOL (despegue y aterrizaje vertical plano). El sistema PVTOL posee complicados esquemas de control de balanceo, no linealidad, baja estabilidad y es un proceso del tipo de segundo orden. Este artículo tiene como objetivo presentar una comparación entre diferentes controladores utilizados en un modelo dinámico de una plataforma PVTOL. La comparación del rendimiento del clásico Zeigler Nicholas (ZN-PID) se realiza frente a la optimización del controlador basada en algoritmos genéticos (GA). Los resultados se obtienen utilizando MATLAB y SIMULINK, el controlador basado en (ZN-PID) y (GA) está diseñado para el rechazo de perturbaciones, la respuesta de circuito cerrado y el seguimiento del punto de ajuste.
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