Design of PID Controller for Vertical Take-Off and Landing System

using Fractional Order Particle Swarm Optimization

Major Project Report

Presented By
Baishali Sarkar (BE/6023/16)
Divya Bharti (BE/6048/16)

Under the Guidance of

Mr. Deep Shekhar Acharya
Asst. Professor

Department of Electrical & Electronics Engineering

Birla Institute of Technology, Mesra, Off-Campus Deoghar
SP-20
 Contents

• Abstract
• Introduction
• Vertical Take-off and Landing (VTOL) Modeling
• Proportional Integral Derivative (PID) Controller
• Fractional Order Particle Swarm Optimization (FOPSO)
• Simulation and Results
• Conclusion
• Publication
• References

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 Abstract

A Vertical Take-Off and Landing (VTOL) system is highly unstable and hence a robust
controller is needed to stabilize it in finite time. This work presents the design and real time
implementation of a Proportional-Integral-Derivative (PID) controller to stabilize the VTOL
system. The applied PID controller has been tuned, to achieve the desired performance and
robustness, by Fractional Order Particle Swarm Optimization (FOPSO), which is a modified
form of the original PSO. The results obtained in the practical implementation of the IOPID
controller using the FOPSO controller has been compared with the Particle Swarm
Optimization(PSO) algorithm and Genetic algorithm(GA). It has been found that the IOPID
controller when tuned using FOPSO algorithm exhibits superior performance and robustn ess.

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 Introduction
• Nowadays, the technology of VTOL has become the main focus of the world
aviation industry as such aircrafts are flexible and can take-off and land almost
anywhere. They do not need a long runway and require less physical space.
• The performance of PID controller when tuned using FOPSO algorithm is found to
exhibit superior performance compared to PSO and GA which is verified by the rise
time, settling time and maximum overshoot of the control loop Vertical Take-Off
and Landing System.
• FOPSO is preferred over other algorithms as it overcomes all the shortcomings.
• This work presents the designing of PID controller for VTOL system using FOPSO.
• The objective of this work is to tune the parameters of the PID controller, using
Fractional Order Particle Swarm Optimization (FOPSO) algorithm, to:
– Minimize overshoot and settling time of the compensated system,
– preserve the sensitivity and complementary sensitivity within acceptable limits.

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 Vertical Take-Off and Landing (VTOL) Modeling

Parameters of VTOL System [8]

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 Mathematical Model
• The torque-current equation of the VTOL system is expressed as: [8]
K t I m  m2 gl2 cos( (t ))  m1 gl1 cos( (t ))  m3 gl3 cos( (t ))  0
m1 , m2 , m3
l1 , l2 , l3
Where K t , I m ,  (are
t ) the masses of the motor-fan, counterweight and the
beam respectively are the lengths of the sections shown in the

figure. are the torque constant, motor current and pitch angle respectively.
J  B  K S  K t I m
Equation of the Motion may be expressed as:
J , B, K s
 
lm
Where are the moment of inertia, coefficient of damping
and stiffness respectively. Assuming and as the first state
and second state variable respectively, as input u to the
system.
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 Mathematical Model (cont.)

• Substituting the values from the parameter table state space

model of VTOL may be expressed as:
0 1  x 0
 x1    1  
 x     K s    B   x    K t u

 2   J   J   2   J 
 x1 
y  1 0 
 x2 
• Substituting the values from table 1, equation can be written
as:  x   1.3770  3.0213  x  1
1 1
 x    1 0   x   0  u
 2   2   
 x1 
y  13.6122 0 
 x2 

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 Proportional Integral Derivative (PID) Controller
• A fractional-order PID controller, in the general form is expressed as:
KI
GC ( s )  K P 
 KDs
s
Where KP, KI, KD are the controller gains

• Fractional Order PID controller, the I- and D- actions being fractional have wider scope of
design. FOPID has more advantages over conventional or integer order PID controllers.

• The block diagrams of 1-DOF controller are shown below:

• The fractional-order controllers are robust and hence are insensitive to variations in
parameters of a compensated system.
• It is quite easier to achieve the iso-damping property using a fractional-order controller. 8
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9/22/22
 Fractional Order Particle Swarm Optimization
(FOPSO)
• Particle Swarm Optimization (PSO) was developed by Eberhart and Kennedy.

• Particle Swarm Optimization (PSO) has been applied in variety of fields such as
social modeling, computer graphics, simulation and animation of natural flocks or
swarms, pattern recognition, color image quantization.

• It represents an analogy which is established between a particle and a swarm

element.

• Traditional PSO algorithm tends to suffer from slow convergence and trapping
into local optima.

• The fractional-order PSO is used for controlling the convergence rate by using
fractional calculus concepts.

Thursday, September 22, 2022 9

 Fractional Order PSO
• The original velocity equation is written as:
C( vt 1)  Cvt  1 ( L  z )   2 (GB  z )
• And this can be written as:
C( vt 1)  Cvt  1 ( L  z )   2 (GB  z )
• The left side C( vt 1)  Cvt is the discrete version of the derivative of order = 1
(assuming T = 1) leading to the following expression:
D [C( vt 1) ]  1 ( L  z )   2 (GB  z )
• The order of the velocity derivative can be generalized to a real number 0 ≤ Ψ
≤ 1 and on testing values of ranging from Ψ = 0 up to Ψ = 1, with increments of
∆Ψ = 0.1 and yielding equation:
1 1 1
C( vt 1) Cvt  Cvt 1   (1  )Cvt 2   (1  )(2  )Cvt 3  1 ( L  z )   2 (GB  z )
2 6 24
or
1 1 1
C( vt 1)  Cvt  Cvt 1   (1  )Cvt  2   (1  )(2  )Cvt 3  1 ( L  z )   2 (GB  z )
2 6 24
 Simulation

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 MATLAB Program

User defined function:

function y=user_fn(x)
Global kp ki kd;
kp=x(1);
ki=x(2);
kd=x(3);
sim('C:\Users\Dell\Documents\MATLAB\Simulink6RealTime');
sr=stepinfo(out,time);
ts=sr.SettlingTime;
mp=sr.Overshoot;
y=ts+mp;
end

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 Results
Transfer function obtained using real time system:

4.50546
G(s) 
0.330987 s 2  0.455759 s  1

Results of Optimization Algorithm:

Algorithm Kp Ki Kd

FOPSO 0.125 0.11 0.14

PSO 0.15 0.143 0.165

GA 0.16 0.18 0.18

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 Real Time Graph Comparison of VTOL

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 Simulation Graph Comparison of VTOL

Simulated results comparision of FOPSO, PSO, GA

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 Comparison of FOPSO, PSO, GA

Different Rise Time Settling Overshoot Peak Peak Time

Algorithm Time

FOPSO 1.0752 8.5032 29.4558 1.2946 2.7388

PSO 1.0307 8.1539 30.2850 1.3028 2.6796

GA 1.0256 8.0834 31.2806 1.3128 2.5769

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 Conclusion

• Fractional Order Particle Swarm Optimization has been applied for tuning
IOPID controllers to stabilize a VTOL system present in the laboratory.
• Performance of the proposed algorithm has been compared with the original
PSO and GA, on the basis of rise time, settling time and maximum overshoot.
• The FOPSO surpasses the original PSO in tuning the controllers.
• The performance of PID controller when tuned using FOPSO algorithm is
found to exhibit superior performance compared to PSO and GA which is
verified by the rise time, settling time and maximum overshoot of the control
loop Vertical Take-Off and Landing System.
• The controller is also able to maintain the robustness of the system by keeping
the sensitivity and complimentary sensitivity values within acceptable limits.
• Application of FOPSO for tuning FOPID or PID controllers to stabilize other
unstable systems, systems with time delays, uncertain plants, etc. are other
possible areas which may be explored.

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 Publications
Conferences:

1. D. S. Acharya, Baishali Sarkar, Divya Bharti“A Fractional Order Particle Swarm

Optimization for tuning a Fractional Order PID Controller for Magnetic
Levitation Plant”, accepted in IEEE 1st International Conference on
Measurement, Instrumentation, Control and Automation (ICMICA), NIT
Kurukshetra, April 2020 (postponed to 24-26 June 2020, due to COVID-19).
2. D. S. Acharya, S. K. Mishra, B. Sarkar, D. Bharti, “Fractional Order Particle
Swarm Optimization to Optimize a Fractional Order PID Controller for a Vertical
Take-Off and Landing System”, International Conference on Emerging Trends for
Smart Grid Automation and Industry 4.0 (ICETSGAI4.0), Springer, December
2019, BIT Mesra
Journal:

1. D. S. Acharya, B. Sarkar, D. Bharti “Real time implementation of PID Controller

using Fractional Order Particle Swarm Optimization for a Vertical Take-off and
Landing System”, to be communicated to a reputed international journal.

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 References
[1] Shi, Xichen and Spieler, Patrick and Tang, Ellande and Lupu, Elena-Sorina and Tokumaru, Phillip
and Chung Soon-Jo, “Adaptive Nonlinear Control of Fixed-Wing VTOL with Airflow Vector
Sensing”,International Conference on Robotics and Automation (ICRA),2020
[2] A. L. Salih, M. Moghavvemi, H. A. F. Mohamed and K. S. Gaeid, "Modelling and PID controller
design for a quadrotor unmanned air vehicle," 2010 IEEE International Conference on Automation,
Quality and Testing, Robotics (AQTR), Cluj-Napoca, 2010, pp. 1 -5.
[3] S. Anoop and K. R. Sharma, Model predictive control: Simulation studies for the implementation on
vertical take-off and landing lab prototype," Procedia computer science, vol. 143, pp. 663-670,
2018.
[4] J. M. S. Ribeiro, M. F. Santos, M. J. Carmo and M. F. Silva, "Comparison of PID controller tuning
methods: analytical/classical techniques versus optimization algorithms," 2017 18th International
Carpathian Control Conference (ICCC), Sinaia, 2017, pp. 533-538.
[5] Prabhat Dev M., Jain S., Kumar H., Tripathi B.N., Khan S.A. (2020) Various Tuning and
Optimization Techniques Employed in PID Controller: A Review. In: Yadav S., Singh D., Arora P.,
Kumar H. (eds) Proceedings of International Conference in Mechanical and Energy Technology.
Smart Innovation, Systems and Technologies, vol 174. Springer, Singapore.
[6] Wang, D., Tan, D. & Liu, L. Particle swarm optimization algorithm: an overview. Soft Comput 22,
387–408 (2018)
[7] D. S. Acharya, S. K. Mishra, P. K. Ranjan, S. Misra, and S. Pallavi, “Design of optimally tuned two
degree of freedom fractional order pid controller for magnetic levitation plant," in 2018 5th IEEE
Uttar Pradesh Section International Conference on Electrical, Electronics and Computer
Engineering (UPCON), pp. 1 -6, IEEE, 2018.
9/22/22 Final Presentation- 2020 19
 Thank you
for
your
attention !
Thursday, September 22, 2022 20