Identificação e controle digital de uma planta didática de movimento angular propulsionada por motor e hélice

Abstract

Unmanned Aerial Vehicles are a technological innovation increasingly present in society's daily lives. With diverse applications, these devices are increasing attracting interest from the scientific community, serving, in the context of this work, as a source of inspiration. The mechanical complexity of a multi-rotor UAV was simplified in this work for didactic purposes. This project has only one propelling element (composed by a motor and propeller) guided by a rotating arm, producing an angular movement. The plant proposed for this work was built as well as an angle sensor based on a linear scale potentiometer. The necessary bibliographic review for the identification procedures of the plant and the design of a digital controller was described in this work. Two identification methods have been proposed: Non-Recursive Least Squares and Gauss-Newton Method, with the last one showing better results, being, therefore, the transfer function resulting from this method chosen to represent the plant behavior. Pole Placement was used as strategy for the design of the digital controller, as well as the RST structure to represent it. The first designed digital controller did not meet the proposed performance specifications. After adjustments, a new controller was calculated and implemented, with satisfactory results, within the proposed performance specifications.