How to increase the velocity of high-fidelity-plant multirotor in uavpackagedelivery

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Eymen Azazi
Eymen Azazi 2024-6-6
回答： Pratyush 2024-7-16
I used the uavpackagedelivery example to let a multirotor uav follow some waypoints. The problem is that, no matter how much i change the PID controller attributes of the velocity and position control and therefore the pitch and roll control in the control system of the high fidelity plant, the uav is flying way to slow, while it flies pretty fast with the low fidelity plant. The only way to increase the speed is by increasing the LookaheadDistance at the waypointfollower block. But that ruins the desired flightpath.
Is there any other way to let the uav fly faster without having to increase the lookaheaddistance?

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回答（1 个）

Pratyush
Pratyush 2024-7-16
Hi Eymen,
To increase the UAV's speed in MATLAB without compromising the flight path, consider the following steps:
  1. Adjust Maximum Velocity and Acceleration Limits: Ensure these limits are not too restrictive.
  2. Tune PID Controller Gains: Increase the proportional gain (P) for a quicker response, but be cautious of overshooting.
  3. Optimize Waypoint Follower Parameters: Adjust parameters like 'DesiredSpeed' and 'MaxAngularVelocity'.
  4. Use Feedforward Control: Anticipate control actions based on the desired trajectory.
  5. Check for Saturation Limits: Ensure control signals are not being limited by low actuator limits.
  6. Adjust Simulation Time Step: Ensure the time step is appropriate for accurate control.
  7. Review Plant Model Dynamics: Verify and adjust the model parameters for realistic behavior.
  8. Consider Alternative Control Strategies: Explore methods like Model Predictive Control (MPC) or Linear Quadratic Regulator (LQR) for better performance.
These steps should help achieve a faster and more accurate flight path for your UAV.

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