Sliding Mode Control Applied to a Mini-Aircraft Pitch Position Model
Control de posición de cabeceo por modos deslizantes para un avión pequeño
Ricardo Carreño Aguilera, Miguel Patiño Ortiz, and Julián Patiño Ortiz
ESIME, Instituto Politécnico Nacional, México D.F., Mexico. rcrc2013@outlook.com, mpatino2002@ipn.mx, jpatinoo@ipn.mx
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Normally, mini-aircraft must be able to perform tasks such as aerial photography, aerial surveillance, remote fire and pollution sensing, disaster areas, road traffic and security monitoring, among others, without stability problems in the presence of many bounded perturbations. The dynamical model is affected by blast perturbations. Based on this, it is possible to design, evaluate and compare the real result with respect to pitch control law based on reference trajectory in the presence of external disturbances (blasts) or changes in the aircraft controller model. The model has non-linear properties but, with soft perturbations through the aircraft trajectory, allows a linear description without losing its essential properties. The Laplace description is a transfer function that works to develop the state space, with unknown invariant parameters using a wind tunnel. Control law is based on a feedback sliding mode with decoupled disturbances, and the output result is compared with the real pitch position measured in the real system. The control law applied to the system has a high convergence performance.
Keywords: Sliding modes, integral and proportional control, mini-aircraft models.
Resumen
Comúnmente un avión pequeño debe ser capaz de realizar tareas tales como la de fotografía aérea, vigilancia, detección de incendios a distancia, detectar los niveles de contaminación, monitorear las zonas de desastre, ver el tránsito y brindar seguridad a través de la video-vigilancia, entre otras aplicaciones considerando que no tiene problemas de estabilidad en presencia de perturbaciones acotadas. El modelo dinámico de esa aeronave se ve afectado por las perturbaciones, y que con base en ellas fue posible diseñar un controlador por modos deslizantes. Aplicable a los diferentes movimientos longitudinales que hace hacia arriba o hacia abajo con respecto a la trayectoria de referencia, el modelo de avión tiene propiedades no lineales; pero con perturbaciones suaves a través de su trayectoria; lo que permite una descripción lineal sin perder muchas de sus propiedades esenciales. La descripción de Laplace permitió obtener su función de transferencia y así desarrollar el espacio de estados, con parámetros invariantes y desconocidos. Los cuales fueron descritos utilizando un túnel de viento. La ley de control se basó en la técnica de modos deslizantes con perturbaciones desacopladas. Sus resultados se compararon con el movimiento de cabeceo medido dentro de la aeronave. La ley de control aplicada al sistema real tuvo un desempeño con alta convergencia.
Palabras clave: Modos deslizantes, control proporcional e integral, modelo para aviones pequeños.
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