THAI NGUYEN UNIVERSITY OF TECHNOLOGY

Faculty of International Training

-----------------o0o---------------

SENIOR DESIGN II REPORT

CONTROL DESIGN FOR TOWER

COPTER SYSTEM
Author:
Doan Minh Quang
Student’s ID: K155905228031
Hoang Dinh Nghia
Student’s ID: K155520216237
Nguyen Thien Trang Anh
Student’s ID: K155905228002
Supervisor:
MSc. Nguyen Van Lanh
Thai Nguyen, August 2019

THAINGUYEN UNIVERSITY OF TECHNOLOGY

Faculty of International Training

I
SENIOR DESIGN II REPORT

CONTROL DESIGN FOR TOWER

COPTER SYSTEM

Author: Supervisor:
Doan Minh Quang MSc. Nguyen Van Lanh
Student’s ID: K155905228031
Hoang Dinh Nghia
Student’s ID: K155520216237
Nguyen Thien Trang Anh
Student’s ID: K155905228002

A thesis submitted in fulfillment of the requirements

for the report II
in the
Division of English-taught Electrical Engineering

Thai Nguyen August, 2019

II
This thesis has been approved by the
Supervisor: MSc. Nguyen Van Lanh

Signed:

Date:

Head of the Division: Dr. Vu Quoc Dong

Signed:

Date:

Faculty Dean: Dr. Nguyen Tien Hung

Signed:

Date:

Composition of the committee (optional):

Dr. Nguyen Tien Hung Thainguyen University of Technology, Chairman

Dr. Nguyen Tuan Minh Thainguyen University of Technology
Dr. Nguyen Minh Y Thainguyen University of Technology
Dr. Vu Quoc Dong Thainguyen University of Technology
MSc. Tran Que Son Thainguyen University of Technology

III
Acknowledgements

In this topic, present a specific view of tower copter with PID controller. Due to
limited knowledge, our thematic issues cannot avoid shortcomings. We hope to
receive criticism and contributions from the subject teachers well as the teachers
in the Faculty so that the topic of my group completed.

We sincerely thank MSc Nguyen Van Lanh for enthusiastically guiding us in the
past time, his help and suggestions have greatly supported us to complete this
topic.

IV
Contents

Acknowledgements ........................................................................................................... iv

Contents .............................................................................................................................. 5

List of figures ..................................................................................................................... 6

List of tables ....................................................................................................................... 7

List of abbreviations .......................................................................................................... 4

Abstract .............................................................................................................................. 9

CHAPTER 1 Introduction of Control System .............................................................. 10

1.1. PID controller .................................................................................................. 12

1.2. Fuzzy logic ...................................................................................................... 13

CHAPTER 2 Fuzzy Controller ...................................................................................... 14

2.1. Fuzzification.................................................................................................... 16

2.2. Fuzzy logic operator ....................................................................................... 17

2.3. If-Then rules .................................................................................................... 18

2.4. Defuzzification ................................................................................................ 19

CHAPTER 3 ..................................................................................................................... 20

3.1. Experimental setup .......................................................................................... 20

3.1.1. Propeller and Motor .............................................................................. 22

3.1.2. Arduino Uno ......................................................................................... 27

3.1.3. Ultrasonic Sensor .................................................................................. 29

3.1.4. LCD 16x2 ............................................................................................. 31

3.2. Working principle ........................................................................................... 33

3.3. Applications .................................................................................................... 35

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CHAPTER 4 Control design for the tower copter system........................................... 35

4.1. Fuzzy ............................................................................................................... 35

4.2. PID control ...................................................................................................... 39

CHAPTER 5 Conclusion and Recommendation .......................................................... 41

REFERENCES ................................................................................................................ 44

APPENDIX....................................................................................................................... 46

List of figures
Figure 1. 1. A basic control system .............................................................................. 10
Figure 1. 2. The block diagram of open loop control system ....................................... 11
Figure 1. 3 The block diagram of closed loop control system. ................................... 11
Figure 1. 4. The block diagram of PID controller........................................................12
Figure 1. 5. The block diagram of fuzzy logic controller.............................................13

Figure 2. 0. Components of fuzzy logic system……………………………...………15

Figure 2. 1. A temperature scale defined by fuzzy set theory ...................................... 16
Figure 2. 2. Model of fuzzy controller..........................................................................17
Figure 2. 3. Centroid defuzzification............................................................................19

Figure 3. 1. Real model of the product……………………………………………….21

Figure 3. 2. The experiment setup ................................................................................ 21
Figure 3. 3. Propeller .................................................................................................... 22
Figure 3. 4. Brush motor ............................................................................................... 22
Figure 3. 5. An H bridge ............................................................................................... 23
Figure 3. 6. Brushless motor ......................................................................................... 24
Figure 3. 7. Brushless ESC ........................................................................................... 25
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Figure 3. 8. Principle of ESC........................................................................................ 26
Figure 3. 9. Arduino Uno.............................................................................................. 27
Figure 3. 10. Ultrasonic Sensor .................................................................................... 29
Figure 3. 11. Ultrasonic Sensor working ...................................................................... 29
Figure 3. 12. Pin diagram of LCD16x2........................................................................31

Figure 3. 13. Flow chart of PID for this project ........................................................... 33

Figure 3. 14. Block diagram………………………………...………………………..33

Figure 4. 1. Experimental result ................................................................................... 40

Figure 5. 1. Block diagram of Fuzzy PID controller....................................................44

List of tables
Table 2. 1. Boolean and Fuzzy logic ............................................................................ 17

Table 3. 1. Ultrasonic Sensor Pin configuration........................................................... 29

Table 3. 2. Pins function of LCD16x2.........................................................................32

Table 4. 1. Ziegler- Nichols method............................................................................39

List of abbreviations
CT – Continuous- time
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DT – Discrete- time
PID – Proportional- integral- derivative
SP – Setpoint
PV – Process variable
LCD - Liquid Crystal Display
PMSM – Permanent magnet synchronous motor
ESC – Electronic Speed Control
FETs – Field effect transistors

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Abstract

This project; presenting to the field of power electronics, describes the mechanical
design, electronic and programming of a tower copter using Fuzzy Logic controller
and the PID ( proportional- integral- derivative) controller. In addition, the operation
of the project is shown both open ( no control) and closed loop (with control) loop,
also a brief description of the different software used will be made during the project,
such as matlab, arduino, excel, etc. Also be taken into account (briefly) the machines
used for the construction of the model, such as 3D, CNC (computer numerical control)
and other.
As progress is made in the document anger exposing each of the components used for
the assembly of the tower ccopter as well as the respective show progrmacionand
tuning. It should be noted that this project was developes with the knowledge gained
during the course, mainly on topis ranging types of eletric motor, variable speed
drives, wiring, sensors, meters and other. Regarding issues related to the type of
control used, a separate investigation was made, since that issue was not included in
the curriculum of the subject. This was the great challenge of the project, learn PID
control. At the end of the document some conclusions and recommendations (or
advice) and for possible further improvement of the design and components used are
given.
Keywords: tower copter, PID, open loop, close loop, matlab, arrduino, impresora 3D,
CNC.

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CHAPTER 1
INTRODUCTION OF CONTROL SYSTEM

A control system is a set of mechanical or electronic devices that regulates

other devices or systems by way of control loops. Typically, control systems are
computerized.

Figure 1.1: A basic control system

An electrical control system is a physical interconnection of devices that
influences the behavior of other devices or systems. A simple electronic system
is made up of an input, a process, and an output. Both input and output variables
to the system are signals. Examples of such systems include circulation pumps,
compressors, manufacturing systems, refrigeration plant and motor control
panels.
Input devices such as sensors gather and respond to information and
control a physical process by using electrical energy in the form of an output
action. Electronic systems can be classed as ‘causal’ in nature. The input signal
is the ‘cause’ of the change in the process or system operation, while the output
signal is the ‘effect’, the consequence of the cause. An example is a microphone
(input device) causing sound waves to be converted into electrical signals and
being amplified by a speaker (output device) producing sound waves.
Electronic systems are commonly represented as a series of interconnected
blocks and signals. Each block is shown with its own set of inputs and outputs.
This is known as block-diagram representation.

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 Electrical systems operate either on continuous-time (CT) signals or
discrete-time (DT) signals.
Control systems are one of two different types, either an open loop system
or a closed loop system.

Figure 1.2: The block diagram of open loop control system

Figure 1.3: The block diagram of closed loop control system

In this project, we consider two popular types of control: PID and fuzzy control.

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1.1. PID Controller

Figure 1.4: The block diagram of PID controller

A proportional–integral–derivative controller (PID controller. or three-term

controller shown in figure 1.4) is a control loop feedback mechanism widely used in
industrial control systems and a variety of other applications requiring continuously
modulated control. A PID controller continuously calculates an error value e(t) as the
difference between a desired setpoint (SP) and a measured process variable (PV) and
applies a correction based on proportional, integral, and derivative terms (denoted P, I,
and D respectively), hence the name.

- Advantages: It only acts on the error between the desired signal and the
controlled signal. Hence, no extra measurements of the internal states are
needed, which is one of the biggest advantage in applications because more
measurements mean more sensors, more signal conditioning, more
maintenance, more cost. Apart from certain structural properties of the
plant/process, not much knowledge of the plant is required for tuning. The
tuning can be done through trial and error or a look-up table. Not much
expertise is needed for tuning, hence, few middle-skilled technicians may
easily carry out the task again cost cutting. It is efficient and robust against
some common uncertainties if properly tuned (around an operating region).

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 Easy to implement in hardware (through filters) and also easy to implement
though microcontrollers, PLC etc. No fancy codes to design… can be written
by a middle-level programmer.

- Disadvantages: The controller is not really suited for nonlinear plants in

general or in layman language, the controller may not assure the desired
performance for a changing environment/ operating points. In high-end
applications like fighter aircraft, submarines, precision robotics, economic
models (stock market predictions) etc, mere fulfilling of the stable performance
around a fixed operating region. The controller should be able to track a
reference signal under various conditions (even some of them may not be
known).

Overall, the controller works well for most of the industrial/process applications
but on the contrary no really suited for advance applications for defense, robotics,
financial models,...etc.

1.2. Fuzzy logic

Fuzzy logic is a form of many-valued logic in which the truth values of variables
may be any real number between 0 and 1 inclusive. It is employed to handle the
concept of partial truth, where the truth value may range between completely true and
completely false

Figure 1.5 : The block diagram of Fuzzy logic controller

- Advantages: Similar to human resoning; Based on linguistic method; Using

simple mathematics for nonlinear, integrated and complex systems; Reasoning
and knowledge of human in and in shape of membership rules; Method of
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 nonlinear control and ability to be used efficiently for HVAV systems; High
precision; Rapid operation.
- Disadvantages: For more accuracy, needs more fuzzy grades which results to
increase exponential the rule; The lower speed and also longer run time of
system; Lack of real time response; Does not simply capable to receiving
feedback for implementation of learning strategy; Restricted number of usage
of input variables; Inability to straight forwardly advance optimal number of
fuzzy rules and determine the membership function parameters.

CHAPTER 2
FUZZY LOGIC CONTROLLER
A fuzzy control system is a control system based on fuzzy logic a mathematical
system that analyzes analog input values in terms of logical variables that take on
continuous values between 0 and 1, in contrast to classical or digital logic, which
operates on discrete values of either 1 or 0 (true or false, respectively).

Fuzzy logic is a form of many-valued logic in which the truth values of variables
may be any real number between 0 and 1 inclusive. It is employed to handle the
concept of partial truth, where the truth value may range between completely true and
completely false. By contrast, in Boolean logic, the truth values of variables may only
be the integer values 0 or 1.

The term fuzzy logic was introduced with the 1965 proposal of fuzzy set theory
by Lotfi Zadeh. Fuzzy logic had however been studied since the 1920s, as infinite-
valued logic notably by Łukasiewicz and Tarski.

It is based on the observation that people make decisions based on imprecise and
non-numerical information, fuzzy models or sets are mathematical means of
representing vagueness and imprecise information, hence the term fuzzy. These

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models have the capability of recognizing, representing, manipulating, interpreting,
and untilising data and information that are vague and lack certainty.

Fuzzy logic has been applied to many fields, from control theory to artificial
intelligence.

Fuzzy logic seems closer to the way our brains work. We aggregate data and form
a number of partial truths which we aggregate further into higher truths which in turn,
when certain thresholds are exceeded, cause certain further results such as motor
reaction.

Figure 2.0: Components of fuzzy logic system

 Fuzzy inference process comprises of five parts:

- Fuzzification of the input variables

- Application of the fuzzy operator (AND or OR) in the antecedent

- Implication from the antecedent to the consequent

- Aggregation of the consequents across the rules

- Defuzzification

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2.1. Fuzzification

Figure 2.1: A temperature scale defined by fuzzy set theory.

In this image, the meanings of the expressions cold, warm, and hot are
represented by functions mapping a temperature scale. A point on that scale has three
"truth values"—one for each of the three functions. The vertical line in the image
represents a particular temperature that the three arrows (truth values) gauge. Since
the red arrow points to zero, this temperature may be interpreted as "not hot". The
orange arrow (pointing at 0.2) may describe it as "slightly warm" and the blue arrow
(pointing at 0.8) "fairly cold".
Fuzzy sets are often defined as triangle or trapezoid-shaped curves, as each value
will have a slope where the value is increasing, a peak where the value is equal to 1
(which can have a length of 0 or greater) and a slope where the value is decreasing.
They can also be defined using a sigmoid function. One common case is the standard
logistic function defined as
1
𝑆 (𝑥 ) =
1 + 𝑒 −𝑥
which has the following symmetry property
𝑆(𝑥) + 𝑆(−𝑥) = 1
From this it follows that
(𝑆(𝑥) + 𝑆(−𝑥)) ∗ (𝑆(𝑦) + 𝑆(−𝑦)) ∗ (𝑆(𝑧) + 𝑆(−𝑧)) = 1

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 Figure 2.2: Model of Fuzzy controller

The process of transforming crisp (bivalued) input values into linguistic values is
called fuzzification

Steps of Fuzzification:

Step 1: Input values are translated into linguistic concepts, which are represented by
fuzzy set.

Step 2: Membership functions are applied to the measurements, and the degree of
membership is determined.

2.2. Fuzzy logic operators

Fuzzy logic works with membership values in a way that mimics Boolean logic.
To this end, replacements for basic operators AND, OR, NOT must be available.
There are several ways to this. A common replacement is called the Zadeh operators:

Table 2. 1. Boolean and fuzzy logic

Boolean Fuzzy

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 AND(x,y) MIN(x,y)

OR(x,y) MAX(x,y)

NOT(x) 1–x

For TRUE/1 and FALSE/0, the fuzzy expressions produce the same result as the
Boolean expressions.
There are also other operators, more linguistic in nature, called hedges that can
be applied. These are generally adverbs such as very, or somewhat, which modify the
meaning of a set using a mathematical formula.
However, an arbitrary choice table does not always define a fuzzy logic function.
In the paper, a criterion has been formulated to recognize whether a given choice table
defines a fuzzy logic function and a simple algorithm of fuzzy logic function synthesis
has been proposed based on introduced concepts of constituents of minimum and
maximum. A fuzzy logic function represents a disjunction of constituents of
minimum, where a constituent of minimum is a conjunction of variables of the current
area greater than or equal to the function value in this area (to the right of the function
value in the inequality, including the function value).
Another set of AND/OR operators is based on multiplication
x AND y = x*y
x OR y = 1-(1-x)*(1-y) = x+y - (x*y)
1-(1 - x) * (1 - y) comes from this:
x OR y = NOT{AND[ NOT(x), NOT(y) ] }
x OR y = NOT[ AND(1-x, 1-y) ]
x OR y = NOT[(1-x)*(1-y) ]
x OR y = 1-(1-x)*(1-y)

2.3. If- then rules

IF-THEN rules map input or computed truth values to desired output truth values.
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Example:
IF temperature is very cold THEN fan-speed is stopped
IF temperature is cold THEN fan-speed is slow
IF temperature is warm THEN fan-speed is moderate
IF temperature is hot THEN fan-speed is high
Given a certain temperature, the fuzzy variable hot has a certain truth value, which is
copied to the high variable.
Should an output variable occur in several THEN parts, then the values from the
respective IF parts are combined using the OR operator.

2.4. Defuzzification

Figure 2.3: Centroid defuzzification

The goal is to get a continuous variable from fuzzy truth values.

This would be easy if the output truth values were exactly those obtained from
fuzzification of a given number. Since, however, all output truth values are computed
independently, in most cases they do not represent such a set of numbers. One has
then to decide for a number that matches best the "intention" encoded in the truth
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value. For example, for several truth values of fan-speed, an actual speed must be
found that best fits the computed truth values of the variables 'slow', 'moderate' and so
on.
There is no single algorithm for this purpose. A common algorithm is
1. For each truth value, cut the membership function at this value
2. Combine the resulting curves using the OR operator
3. Find the center-of-weight of the area under the curve
4. The x position of this center is then the final output.

CHAPTER 3
EXPERIMENTAL SETUP

3.1. Experimental setup

The experimental setup is shown in figure 3.1. The setup include: Arduino uno;
Ultrasonic Sensor; Electronic Speed Control; Power supply 12V – 40A; LCD Display
16x2; Propeller and Motor and Potentiometer and push button.

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 Figure 3.1: Real model of the product

2 4
1

Figure 3.2: Experimental setup

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3.1.1. Propeller and motor
 Propeller: The propeller is shown in figure 3.3

Figure 3.3 Propeller

A propeller is a type of fan that transmits power by converting rotational motion

into thrust. A pressure difference is produced between the forward and rear surfaces of
the airfoil-shaped blade, and a fluid (such as air or water) is accelerated behind the
blade. Propeller dynamics, like those of aircraft wings, can be modelled by Bernoulli's
principle and Newton's third law. Most marine propellers are screw propellers with
fixed helical blades rotating around a horizontal (or nearly horizontal) axis or
propeller shaft.

 Motor
 Brush motor and H-bridge :

Figure 3.4: Brush motor

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 A brushed motor is an internally commutated electric motor designed to be run
from a direct current power source. Brushed motors were the first commercially
important application of electric power to driving mechanical energy, and DC
distribution systems were used for more than 100 years to operate motors in
commercial and industrial buildings.
Brushed DC motors can be varied in speed by changing the operating voltage or
the strength of the magnetic field. Depending on the connections of the field to the
power supply, the speed and torque characteristics of a brushed motor can be altered
to provide steady speed or speed inversely proportional to the mechanical load.
Brushed motors continue to be used for electrical propulsion, cranes, paper machines
and steel rolling mills.

Figure 3.5: H- bridge

An H bridge (shown in figure 3.5) is an electronic circuit that switches the
polarity of a voltage applied to a load. These circuits are often used in robotics and
other applications to allow DC motors to run forwards or backwards.
Most DC-to-AC converters (power inverters), most AC/AC converters, the DC-
to-DC push–pull converter, most motor controllers, and many other kinds of power
electronics use H bridges. In particular, a bipolar stepper motor is almost invariably
driven by a motor controller containing two H bridges.
 Brushless motor and ESC (Electronic Speed Control )

Brushless motor is the core of this project because this is the Copter, brushless
Motor may be expensive but with ESC the speed and rpm are easy to maintain and
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controlled. Because of that instead of using regular DC motor we use Brushless Motor
( shown in figure 3.6).

Figure 3.6: The brushless motor

A brushless motor (BLDC motor or BL motor), also known as electronically

commutated motor (ECM or EC motor) and synchronous DC motors, are synchronous
motors powered by DC electricity via an inverter or switching power supply which
produces an AC electric current to drive each phase of the motor via a closed loop
controller. The controller provides pulses of current to the motor windings that control
the speed and torque of the motor.

The construction of a brushless motor system is typically similar to a permanent

magnet synchronous motor (PMSM), but can also be a switched reluctance motor, or
an induction (asynchronous) motor

The advantages of a brushless motor over brushed motors are high power to
weight ratio, high speed, and electronic control. Brushless motors find applications in
such places as computer peripherals (disk drives, printers), hand-held power tools, and
vehicles ranging from model aircraft to automobiles.

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 Figure 3.7: Brushless ESC

An electronic speed control or ESC ( shown in figure 3.7) is an electronic circuit

that controls and regulates the speed of an electric motor. It may also provide
reversing of the motor and dynamic braking. Miniature electronic speed controls are
used in electrically powered radio controlled models. Full-size electric vehicles also
have systems to control the speed of their drive motors.

An electronic speed control follows a speed reference signal (derived from a

throttle lever, joystick, or other manual input) and varies the switching rate of a
network of field effect transistors (FETs) . By adjusting the duty cycle or switching
frequency of the transistors, the speed of the motor is changed. The rapid switching of
the transistors is what causes the motor itself to emit its characteristic high-pitched
whine, especially noticeable at lower speeds.

Different types of speed controls are required for brushed DC motors and
brushless DC motors. A brushed motor can have its speed controlled by varying the
voltage on its armature (Industrially, motors with electromagnet field windings instead
of permanent magnets can also have their speed controlled by adjusting the strength of
the motor field current). A brushless motor requires a different operating principle.
The speed of the motor is varied by adjusting the timing of pulses of current delivered
to the several windings of the motor.

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 Brushless ESC systems basically create three-phase AC power, as in a
variable frequency drive , to run brushless motors. Brushless motors are popular with
radio controlled airplane hobbyists because of their efficiency, power, longevity and
light weight in comparison to traditional brushed motors. Brushless AC motor
controllers are much more complicated than brushed motor controllers.

The correct phase varies with the motor rotation, which is to be taken into account
by the ESC: Usually, back EMF from the motor is used to detect this rotation, but
variations exist that use magnetic (Hall effect) or optical detectors. Computer-
programmable speed controls generally have user-specified options which allow
setting low voltage cut-off limits, timing, acceleration, braking and direction of
rotation. Reversing the motor's direction may also be accomplished by switching any
two of the three leads from the ESC to the motor.

 Working Principle of ESC

Figure 3.8: Working Principle of ESC

As we know that, an ESC controls the speed of the motors spin of an airplane. It
helps the similar purpose as the throttle servo of a glow powered airplane. It is an edge
between the radio receiver of an airplane and the power plant. An electronic speed
control will have 3- sets of wires. One wire will plug into the main battery of an
airplane. The second wire will have a typical servo wire that plugs into the receiver’s
throttle channel. And lastly, a third of wire is used for powering the motor. The main

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features of an electronic speed control include battery eliminator circuit, low voltage
cutoff, brake, and to.

An ESC or an Electronic Speed Controller controls the brushless motor movement

or speed by activating the appropriate MOSFETs to create the rotating magnetic field
so that the motor rotates. The higher the frequency or the quicker the ESC goes
through the 6 intervals, the higher the speed of the motor will be.

3.1.2. Arduino Uno

Figure 3.9: Arduino Uno

The Arduino UNO (shown in figure 3.9) is an open-source microcontroller board

based on the Microchip ATmega328P microcontroller and developed by Arduino.cc.
The board is equipped with sets of digital and analog input/output (I/O) pins that may
be interfaced to various expansion boards (shields) and other circuits. The board has
14 Digital pins, 6 Analog pins, and programmable with the Arduino IDE (Integrated
Development Environment) via a type B USB cable. It can be powered by the USB
cable or by an external 9-volt battery, though it accepts voltages between 7 and 20
volts. It is also similar to the Arduino Nano and Leonardo. The hardware reference
design is distributed under a Creative Commons Attribution Share-Alike 2.5 license

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and is available on the Arduino website. Layout and production files for some
versions of the hardware are also available.

The word "uno" means "one" in Italian and was chosen to mark the initial release
of the Arduino Software. The Uno board is the first in a series of USB-based Arduino
boards, and it and version 1.0 of the Arduino IDE were the reference versions of
Arduino, now evolved to newer releases. The ATmega328 on the board comes
preprogrammed with a bootloader that allows uploading new code to it without the
use of an external hardware programmer.

While the Uno communicates using the original STK500 protocol, it differs from
all preceding boards in that it does not use the FTDI USB-to-serial driver chip.
Instead, it uses the Atmega16U2 (Atmega8U2 up to version R2) programmed as a
USB-to-serial converter.

- Technical Specification

Microcontroller: Microchip ATmega328P;

Operating Voltage: 5 Volts; Input Voltage: 7 to 20 Volts;

Digital I/O Pins: 14 (of which 6 provide PWM output);

Analog Input Pins: 6; DC Current per I/O Pin: 20 mA;

DC Current for 3.3V Pin: 50 mA;

Flash Memory: 32 KB of which 0.5 KB used by bootloader;

SRAM: 2 KB; EEPROM: 1 KB;

Clock Speed: 16 MHz; Length: 68.6 mm;

Width: 53.4 mm; Weight: 25 g;

- Applications: Arduino has endless applications as it has been used extensively

for creating projects by hobbyist, amateurs and professional in various fields of
engineering. Here are some of those amazing projects that have been developed on an
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Arduino platform : Arduino Satellite (ArduSat); ArduPilot (ArduPilotMega – APM);
Lilypad Arduino.

3.1.3. Ultrasonic Sensor

An Ultrasonic sensor is a device that can measure the distance to an object by
using sound waves. It measures distance by sending out a sound wave at a specific
frequency and listening for that sound wave to bounce back. By recording the elapsed
time between the sound wave being generated and the sound wave bouncing back, it is
possible to calculate the distance between the sonar sensor and the object. In this
project, we use Ultrasonic sensor HC-SR04 as shown in figure 3.10.

Figure 3.10: Ultrasonic Sensor HC-SR04 Figure 3.11: HC-SR04 working

 Ultrasonic Sensor Pin Configuration :

Table 3. 1. Ultrasonic Sensor Pin configuration

Pin
Pin name Description
number

1 Vcc The Vcc pin powers the sensor, typically with +5V

2 Trigger Trigger pin is an Input pin. This pin has to be kept high
for 10us to initialize measurement by sending US wave

3 Echo Echo pin is an Output pin. This pin goes high for a
period of time which will be equal to the time taken for

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 the US wave to return back to the sensor

4 Ground This pin is connected to the Ground of the system1

 HC-SR04 Ultrasonic Sensor – Working Principle :

The HC-SR04 Ultrasonic (US) sensor is a 4 pins module, whose pin names are
Vcc, Trigger, Echo and Ground respectively. This sensor is a very popular sensor used
in many applications where measuring distance or sensing objects are required. The
module has two eyes like projects in the front which forms the Ultrasonic transmitter
and Receiver. The sensor works with the simple high school formula that

Distance = Speed × Time

The Ultrasonic transmitter transmits an ultrasonic wave, this wave travels in air
and when it gets objected by any material it gets reflected back toward the sensor this
reflected wave is observed by the Ultrasonic receiver module as shown in the figure
3.11.

Now, to calculate the distance using the above formulae, we should know the
Speed and time. Since we are using the Ultrasonic wave we know the universal speed
of US wave at room conditions which is 330m/s. The circuitry inbuilt on the module
will calculate the time taken for the US wave to come back and turns on the echo pin
high for that same particular amount of time, this way we can also know the time
taken. Now simply calculate the distance using a microcontroller or microprocessor.

 Applications

Used to avoid and detect obstacles with robots like biped robot, obstacle avoider
robot, path finding robot etc. Used to measure the distance within a wide range of 2cm
to 400cm. Can be used to map the objects surrounding the sensor by rotating it.

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3.1.4. LCD 16x2
LCD display (shown in figure 3.12) is a device that can be used to display data
from our sensors, because we need sensors to be precise all the time displaying real
time value of sensor reading value is necessary and critical to improve and fix our
project miss or fault if it happened (It happened a lot).

Figure 3.12. Pin diagram of LCD16x2

For this project, we decided use a 16x2 LCD, is say, 16 columns and 2 rows.
Basically, the screen It will show two specific data, one in each row. In the primary
row will show the distance between the ultrasonic sensor and motor, and in the second
row we will show the value of the setpoint entered into through of the 4X4 keypad.
These LCD screens have a distribution of pins that are used to control it. One LCD
16X2 has 16 pins, these are: the first three (Vss, Vdd and v0) are feeding, these are
connected directly to the 5v that the arduino delivers; the pins 4, 5 and 6 (Rs, Rw,
Enable respectively) are the pins of control; pins 7, 8, 9, 10, 11, 12, 13 and 14 are the
pins that serve as communication channels between Arduino and the LCD to transmit
the desired data visualize; finally, pins 15 and 16 are used to feed the lighting of the
screen to. These pins are connect to the digital inputs / outputs of the arduino. It
should be noted that not all the aforementioned pins previously you need to connect to

Page | 28
the arduino. In this case, all the aforementioned previously minus the pins 7, 8, 9 and
10.

These pins are connected in case you need to transmit a large amount of data at
high speed, but in this case the data to be transmitted are few. It is good to note that to
vary the luminosity of the screen is used a potentiometer (connected between pins 15
and 16 of the LCD) that operates as resistance variable.

 Pins Functions
Table 3. 2. Pins function of LCD16x2

Pin
Function Name
No

1 Ground (0V) Ground

2 Supply voltage; 5V (4.7V – 5.3V) VCC

3 Contrast adjustment; through a variable resistor VEE

Selects command register when low; and data

4 Register Select
register when high

Low to write to the register; High to read from the

5 Read/write
register

Sends data to data pins when a high to low pulse is

6 Enable
given

7 DB0

8 DB1
8-bit data pins
9 DB2

10 DB3

Page | 29
 11 DB4

12 DB5

13 DB6

14 DB7

15 Backlight VCC (5V) Led+

16 Backlight Ground (0V) Led-

3.2. Working principle

Figure 3.13: Flow chart of PID for this project

Page | 30
 When you talk about “tuning” you are really referring to the calibration that must
be done to the system to be able to control it properly. This tuning is obtained when
the variables Kp, Ki and Kd have certain values that make the system reach a given
reference and stabilize in a certain time, while it is able to withstand external
disturbances. To achieve this tuning, matlab software was used.

This software allows us to identify or estimate a model of the transfer function of

a system without knowing the technical parameters of the plant. This is achieved
thanks to a tool of said software called ident. But before using it, matlab first needs to
acquire some data in order to understand the behavior of the system. For this we have
done a test of the tower copter with open loop, where a given value was inserted in
microseconds to the motor so that a certain distance was raised.

When the engine stabilized at a height, we took all the distance data until the
moment the ultrasonic measurements stopped. This data is taken to matlab and stored
in a variable.

After doing this, the ident was called from the command window. Ident is a tool
used to identify the type of system based on the data delivered. This tool estimates
according to the data and delivers a transfer function according to the behavior of the
data. The block diagram is shown in figure 3.14

Page | 31
 5

4 2

3
1

Figure 3.14 Block diagram of experimental setup

3.3. Applications
Here are some apllications of fuzzy logic controller :

 Automatic control system

 Prediction, diagnos and advisory systems
 User interface and neural languge precessing
 Domestic appliances and embedded systems
 Soft computing and hybird systems with artificial neural networks
 Very Large Scale Integrated circuits ( VLSI) micro controller
 Fuzzy expert system and fuzzy inference

CHAPTER 4
Control design for the tower copter system

4.1. Fuzzy Logic Controllel

In this section, we design fuzzy in simulink.

 The advantages of using fuzzy logic controller

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  Fuzzy logic is conceptually easy to understand. The mathematical concepts
behind fuzzy reasoning are very simple. Fuzzy logic is a more intuitive
approach without the far-reaching complexity.
 Fuzzy logic is flexible. With any given system, it is easy to layer on more
functionality without starting again from scratch.
 Fuzzy logic is tolerant of imprecise data. Everything is imprecise if you look
closely enough, but more than that, most things are imprecise even on careful
inspection. Fuzzy reasoning builds this understanding into the process rather
than tacking it onto the end.
 Fuzzy logic can model nonlinear functions of arbitrary complexity. You can
create a fuzzy system to match any set of input-output data. This process is
made particularly easy by adaptive techniques like Adaptive Neuro-Fuzzy
Inference Systems (ANFIS), which are available in Fuzzy Logic Toolbox
software.
 Fuzzy logic can be built on top of the experience of experts. In direct contrast
to neural networks, which take training data and generate opaque,
impenetrable models, fuzzy logic lets you rely on the experience of people
who already understand your system.
 Fuzzy logic can be blended with conventional control techniques. Fuzzy
systems don't necessarily replace conventional control methods. In many cases
fuzzy systems augment them and simplify their implementation.
 Fuzzy logic is based on natural language. The basis for fuzzy logic is the basis
for human communication. This observation underpins many of the other
statements about fuzzy logic. Because fuzzy logic is built on the structures of
qualitative description used in everyday language, fuzzy logic is easy to use.

The last statement is perhaps the most important one and deserves more
discussion. Natural language, which is used by ordinary people on a daily basis, has
been shaped by thousands of years of human history to be convenient and efficient.

Page | 33
Sentences written in ordinary language represent a triumph of efficient
communication

 The simulation of fuzzy logic controller for the speed of a motor

Consider a very simple example: We need to control the speed of a motor by
changing the input voltage. When a set point is defined, if for some reason, the motor
run faster, we need to slow it down by reducing the input voltage. If the motor slows
below the set point, the input voltage must be increased so that the motor speed
reaches the set point. Let the input status words be :
- Too slow
- Just right
- Too fast
Let the output action words be:
- Less voltage (Slow down)
- No change
- More voltage (Speed up)
Define the rule-base:
1. If the motor is running too slow, then more voltage.
2. If motor speed is about right, the no change.
3. If motor speed is too fast, then less voltage.

Page | 34
 The surface view of the test which signifies like how the voltage is varying with
respect to the speed.

Page | 35
 By adjusting the red line to left or right, The voltage will keep on varying to
corresponding to it.

4.2. PID control

In this project, we use The Ziegler–Nichols tuning method. It is a heuristic
method of tuning a PID controller. It was developed by John G. Ziegler and Nathaniel
B. Nichols. It is performed by setting the I (integral) and D (derivative) gains to zero.
The "P" (proportional) gain, Kp is then increased (from zero) until it reaches the
ultimate gain Ku at which the output of the control loop has stable and consistent
oscillations. Ku and the oscillation period Tu are used to set the P, I, and D gains
depending on the type of controller used:

Table 4.1: Ziegler- Nichols method

Page | 36
The ultimate gain (Ku) is defined as 1/M, where M = the amplitude ratio, Ki= kp/Ti and
Kd= KpTd. These 3 parameters are used to establish the correction u(t) from the error
e(t) via the equation:

which has the following transfer function relationship between error and
controller output:

 Experemental result :

Kp : Pink line

Kd : Blue line

Ki : Red line

Figure 4.1: Experemental result

Page | 37
 As you can see, these values are the KP, KI and KD that make that system shown
in the graph (tower copter) be controlled. To change these variables, what was done
was to vary the behavior of the system (kp, ki, kd) so that it responded more or less
quickly as a function of time, or so that it did not have so much oscillation when
seeking stability after a disturbance. In our case, we look for values of KP, KI and KD
where the system will find the desired fast reference and counteract the overrun
(maximum peak) in about 10 seconds. Keep in mind that the system, being non-linear,
is very complicated to stabilize in a short time, since he needs a certain period to be
able to linearize.

It should be noted that these 10 seconds of time it takes to stabilize is because it

seeks the error to be ± 1%. Normally, in most of the plants one works with an error of
± 5%. The tower copter achieves this 5% in less than 4 seconds, that is, it reaches the
reference and is able to be in a very close range before stabilizing. After finding the
variables of KP, KI and KD; They took Arduino to see the operation. In this test we
noticed that the system had very large oscillations before achieving stabilization, this
was because matlab did not take into account the external variables that affected the
system, such as wind disturbances or vibrations or movement of the model. To
counteract this and make the system less oscillatory, the variables of kp, ki and kd
were varied a little until they were satisfied with the operation.

CHAPTER 5
Conclusion and recommendation
Conclusion: For the successful development of the project, it was essential to collect
and analyze theoretical foundations related to intelligent control, in order to acquire a
clear and objective perspective of the issues, giving a correct approach to the design
and construction of an intelligent controller.

Fuzzy systems, including fuzzy logic and fuzzy set theory, provide a rich and
meaningful addtition to standard logic. The mathematics generated by these theories is
Page | 38
consistent, and fuzzy logic may be a generalization of classic logic. The applications
which may be generated from or adapted to fuzzy logic are wide-ranging, and provide
the opportunity for modeling of conditions which are inherently imprecisely defined,
despite the concernsof classical logicans. Many systems may be modeled, simulated,
and even replicated with the help of fuzzy systems, not the least of which is human
reasoning itself

As it has been seen during the development of this work, only a smart control (PID)
was implemented. This control was carried out in two stages, the first is to simulate
the process through the MATLAB platform and the other part was carried out in a
practical way through arduino iterations in order to find a good tuning of the system.
Only in the case of the practical way the answer is satisfactory, since they showed
closeness with the expected answers taken experimentally in the physical plant. As it
has been seen during the development of this work, only an intelligent control (PID)
was implemented. This control was carried out in two stages, the first is to simulate
the process through the MATLAB platform and the other part was carried out in a
practical way through arduino iterations in order to find a good tuning of the system.
Only in the case of the practical way the answer is satisfactory, since they showed
closeness with the expected answers taken experimentally in the physical plant.

At the time of testing the design of the PID controller in the real plant, it was found
unstable, to such an inconvenience, there was a need to implement an integrative
control to the design, which helps to eliminate the error between the process variable
and the Set-Point for the system to stabilize.

The brushless motor presented inconveniences when trying to rise to high altitude, due
to loss of current and potential in the connection, therefore the motor was not able to
reach the desired height or simply lost strength over time. To solve this problem, the
cables that left the source were exchanged for others of greater caliber and were
shorter to try to lose the minimum amount of current possible.

Page | 39
The design and construction of the system focused on finding in the market
components that allowed to give its own characteristics such as linearity, stiffness,
resistance, etc ... in its manufacture the design could be improved based on technical
tests that helped make the tower copter more efficient .

Closed loop control is a technique widely used in the industry because it is not
necessary to have very expensive components to exercise good control.

To achieve a successful tuning it is good to have a software such as matlab, which has
some tools such as IDENT and PID TUNER that allow you to optimize time when
finding the variables KP , KI and KD.

Recomendation:

Limitation of the current works: To perform a good control on the tower copter, it is
best to acquire components that are of a good material. for example, the rods that are
well calibrated, the bearings that are of good material and that are lubricated, thick
damping springs and of good material, a good design of the bases to grant rigidity and
stability, etc... When making Electrical connections, it is best to use good gauge
cables that allow no loss of current over time.

The ultrasonic sensor was sealed to prevent wind gusts from affecting the sensor
measurements. Cables were also welded to the pins to avoid possible noise in the
connections. In programming, an arrangement was made to save 20 readings at a
certain time and average these measurements to give the sensor greater accuracy.

The use of different software such as matlab, arduino allowed to make a very
complete design and without any additional cost, since these software can be used in
the uni versity. Similarly, the use of machines such as the 3D printer and the CNC
allowed rapid and efficient processing and construction of the components. Thanks to
all this we were able to meet the deadlines stipulated for the project.

Page | 40
Future work:

Figure 5.1 : Block diagram of Fuzzy PID controller

- PID-Fuzzy for experimental setup.
- Modeling of the experimental setup.
- Simulation of PID controller using Matlab/Simulink.
- Simulation of PID-Fuzzy controller using Matlab/Simulink Block diagram of PID-
Fuzzy controller.

REFERENCES
1. Ziegler, J.G.; Nichols, N.B. Optimum settings for automatic controllers. Trans.
ASME 1942, 64, 759–768. [CrossRef]

2. Mamdani, E.H.; Assilian, S. An experiment in linguistic synthesis with a fuzzy

logic controller. Int. J. Man Mach. Stud. 1975, 7, 1–13. [CrossRef] Appl. Sci. 2017, 7,
513 12 of 12

3. Sugeno, M. Industrial Applications of Fuzzy Control; Elsevier Science Inc.: New

York, NY, USA, 1985.

Page | 41
4. Mudi, K.R.; Pal, R.N. A self-tuning fuzzy PI controller. Fuzzy Sets Syst. 2000, 115,
327–388. [CrossRef]

5. Oh, S.K.; Jang, H.J.; Pedrycz, W. Optimized fuzzy PD cascade controller: A

comparative analysis and design. Simul. Model. Pract. Theory 2011, 19, 181–

195. [CrossRef]

6. Chao, C.T.; Teng, C.C. A PD-like self-tuning fuzzy controller without steady-state
error. Fuzzy Sets Syst. 1997, 87, 141–154. [CrossRef].

7. Pitalua-Díaz, N.; Herrera-López, E.J.; Valencia-Palomo, G.; González- Angeles,

A.; Rodríguez-Carvajal, R.A.; Cazarez-Castro, N.R. Comparative analysis between
conventional PI and fuzzy logic PI controllers for indoor Benzene concentrations.
Sustainability 2015, 7, 5398–5412. [CrossRef]

8. Moon, B.S. Equivalence between fuzzy logic controllers and PI controllers for
single input systems. Fuzzy Sets Syst. 1995, 69, 105–113. [CrossRef]

9. Kang, C.S.; Hyun, C.H.; Kim, Y.T.; Baek, J.; Park, M. A design of equivalent PID
structure control using Fuzzy gain scheduling. In Proceedings of the 10th International
Conference on Ubiquitous Robots and Ambient Intelligence (URAI), Jeju, Korea, 30
October–2 November 2013; pp. 354–356.

10. Mann, G.K.I.; Hu, B.G.; Gosine, R.G. Analysis of direct action fuzzy PID
controller structures. IEEE Trans. Syst. Man Cybern. B 1999, 29, 371–388.
[CrossRef] [PubMed]

11. Hu, B.G.; Mann, G.K.I.; Gosine, R.G. A systematic study of fuzzy PID controller-
function-based evaluation approach. IEEE Trans. Fuzzy Syst. 2001, 9, 699–712.

12. Manikandan, R.; Arulprakash, A.; Arulmozhival, R. Design of equivalent fuzzy

PID controller from the conventional PID Controller. In Proceedings of the IEEE
International Conference on Control, Instrumentation, Communication and

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Computational Technology (ICCICCT), Thuckalay, India, 18–19 December 2015; pp.
356–362.

13. Li, H.X.; Philip-Chen, C.L. The equivalence between fuzzy logic systems and
feedforward neural networks. IEEE Trans. Neural Netw. 2000, 11, 356–365.
[PubMed]

14. Chiou, J.S.; Tsai, S.H.; Liu, M.T. A PSO-based adaptive fuzzy PID- controllers.
Simul. Model. Pract. Theory 2012, 26, 49–59. [CrossRef]

15. Pelusi, D. PID and intelligent controllers for optimal timing performances of
industrial actuators. Int. J. Simul. Syst. Sci. Technol. 2012, 13, 65–71.

16. Pelusi, D.; Mascella, R. Optimal control algorithms for second order systems. J.
Comput. Sci. 2013, 9, 183–197. [CrossRef]

17. Ogata, K. Modern Control Engineering, 5th ed.; Prentice Hall: Upper Saddle
River, NJ, USA, 2010; p. 583.

APPENDIX
#include <Servo.h>

#include <LiquidCrystal.h>

LiquidCrystal lcd(12, 11, 5, 4, 3, 2);

#define trigPin 10

#define echoPin 9

#define button1 A0

#define button2 A1
Page | 43
#define button3 A2

#define button4 A3

int bt1, bt2, bt3, bt4;

char inChar;

int Tuning;

Servo brushless;

//----variables sensor------- //

long distance;

long duration;

const int nbaca = 20;

int baca[nbaca];

int index = 0;

int total = 0;

int media = 0;

//-----variables PID--------- //

double timelatest = 0.6;

double timelast = 0;

double error = 0;

double errorlast = 0;

double p = 0;

double i = 0;

double d = 0;

Page | 44
double out_val;

float kp = 0.005;

float ki = 0.0003;

float kd = 0.039;

double nlast = 0;

double setpoint = 0;

double pv = 0;

int mv = 0;

double out = 0;

double input = 0;

String value = "";

//-----variables brushless motor-----//

const int start = 1230;

const int MIN = 1230;

const int MAX = 1500;

void setup(){

Serial.begin(115200);

pinMode(echoPin, INPUT);

pinMode(trigPin, OUTPUT);

lcd.begin(16,2);

lcd.setCursor(0,0);

lcd.print("Distance=");

Page | 45
 lcd.setCursor(0,1);

lcd.print("Setpoint=");

brushless.attach(6, MIN, MAX);

brushless.writeMicroseconds(start);

delay(1000);

void loop(){

digitalWrite(trigPin ,LOW);

delayMicroseconds(2);

digitalWrite(trigPin, HIGH);

delayMicroseconds(5);

digitalWrite(trigPin, LOW);

bt1 = digitalRead(button1);

bt2 = digitalRead(button2);

bt3 = digitalRead(button3);

bt4 = digitalRead(button4);

duration = pulseIn(echoPin, HIGH);

distance = int(duration/2/29.412);

total = total - baca[index];

baca[index] = distance;

total = total + baca[index];

index = index+1;

if(index >= nbaca){

index = 0;

Page | 46
 media = total/nbaca;

input = map(media, 5 , 40, 0, 100);

pid();

mv = map(out, 0, 90, 1230, 1500);

brushless.writeMicroseconds(mv);

delay(10);

Serial.print(setpoint);

Serial.print("\t");

Serial.print(media);

Serial.print("\t");

Serial.print(input);

Serial.print("\t");

Serial.print(out);

Serial.print("\t");

Serial.print(error);

Serial.print("\t");

Serial.println(mv);

//--------------------------------------------

lcd.setCursor(0,0); //

lcd.print("Distance=");

lcd.setCursor(11,0);

lcd.print(media);

lcd.print(" cm");

delay(50);

Page | 47
if(bt1 == 0){

lcd.clear();

setpoint = 25;

lcd.setCursor(0,1);

lcd.print("Setpoint=");

lcd.setCursor(9,1);

lcd.print(setpoint);

lcd.print("%");

if(bt2 == 0){

lcd.clear();

setpoint = 50;

lcd.setCursor(0,1);

lcd.print("Setpoint=");

lcd.setCursor(9,1);

lcd.print(setpoint);

lcd.print("%");

if(bt3 == 0){

lcd.clear();

setpoint = 75;

lcd.setCursor(0,1);

lcd.print("Setpoint=");

lcd.setCursor(9,1);

Page | 48
 lcd.print(setpoint);

lcd.print("%");

if(bt4 == 0){

lcd.clear();

setpoint = 100;

lcd.setCursor(0,1);

lcd.print("Setpoint=");

lcd.setCursor(9,1);

lcd.print(setpoint);

lcd.print("%");

void pid(){

error = setpoint-input;

p = (kp*error);

i = ki*((timelatest*errorlast)+(timelatest*((error-errorlast)/2)));

d = kd *((error-errorlast)/timelatest);

out_val = p+i+d;

out+= out_val+nlast;

if (out >90){

out=90;

if (out <0){

Page | 49
 out=0;

errorlast=error;

nlast=i;

Page | 50