How does motor PID parameters tuned in "VTOL UAV Battery Sizing for Mission Over an Urban Environment"?

In the file "EVTOLTiltrotor.slx", I find a PD in "Speed Controller" is tuned. How does the PD parameters tuned?

It is because I find the motor use simcape module, and simcape could not use PID controller autotune command(error info: simcape can't be linearized).

Thanks!!

File location:R2025a\uav\VTOLUAVBatterySizingForMissionOverAnUrbanEnvironmentExample3\VTOLApp\models\EVTOLTiltrotor.slx

PID location in slx file: EVTOLTiltrotor/Digital Twin/UAV Dynamics (VTOLDynamics)/Force and Moments/Propulsion/Electric Propulsion/Motor Rotor Assembly 1 (MotorPropellerSystem)/Speed Controller

Fig 1. Motor Rotor Assembly 1 (MotorPropellerSystem)

Fig 2. Speed Controller

Fig 3. PD Parameters

Fig 4. PD Parameters Values

[Sam Chak]

Hi @Guanlin

Generally, if the mathematical model (specifically, the Transfer Function) is available and the system order is relatively low, it is possible to intelligently tune the PID controller without solely relying on the Autotuner. This is because, when the Autotuner adjusts the PID gains and produces a less-desirable result, many individuals (especially amateurs) may not understand the underlying reasons for the system's control behavior.

By intelligently tuning the PID controller according to control theory principles outlined in textbooks, you can maintain complete control over the time response generated by the control system.

[Guanlin]

Thanks!

Answer 1

[Pramil]

Hi Guanlin,

Since Simscape models can't be linearized in the usual way, you cannot use automatic PID tuning tools.

One thing which can be done instead is to store the model output using "PS-Simulink" converter and "To Workspace" blocks.

Then using the System Identification Toolbox with this data, estimate a transfer function or a simple model of your system. With this identified model, you can tune your PID controller parameters.

You may find these resources helpful:

• https://www.mathworks.com/help/ident/gs/identify-linear-models-using-the-gui.html
• https://www.mathworks.com/help/slcontrol/ug/designing-controllers-with-the-pid-tuner.html
• https://stackoverflow.com/questions/44571660/is-it-possible-to-implement-a-pid-controller-in-simscape-branch-of-simulink

Hope this helps!