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PID Controller Design & Simulation Analysis

The document details the design and simulation analysis of a Thrust Vector Control (TVC) system for a CanSat, utilizing PID controllers for three-axis attitude control. Key findings include optimized PID gains, effective disturbance rejection, and performance metrics such as a rise time of 0.8 seconds and a steady-state error of less than 0.01 radians. Challenges faced during implementation included numerical integration issues and cross-axis coupling, which were addressed through specific adjustments in the control system.

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27 views4 pages

PID Controller Design & Simulation Analysis

The document details the design and simulation analysis of a Thrust Vector Control (TVC) system for a CanSat, utilizing PID controllers for three-axis attitude control. Key findings include optimized PID gains, effective disturbance rejection, and performance metrics such as a rise time of 0.8 seconds and a steady-state error of less than 0.01 radians. Challenges faced during implementation included numerical integration issues and cross-axis coupling, which were addressed through specific adjustments in the control system.

Uploaded by

sohanbhuiyan00
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

CanSat Thrust Vector Control System:

PID Controller Design & Simulation Analysis


MD. Monjurul Hasan Bhuiyan
May 2, 2025

1 System Overview
The Thrust Vector Control (TVC) system stabilizes a CanSat during de-
scent using PID controllers for three-axis attitude control. Key components
include:
• Plant Dynamics: Rigid body rotation with I = 0.1 kg m2 moment of
inertia
• Actuators: Simulated thrust vectoring nozzles with ±0.3 N m torque
range
• Sensors: Idealized IMU providing pitch, yaw, and roll measurements
The control law implements:
Z t
de(t)
τ = Kp e(t) + Ki e(τ )dτ + Kd (1)
0 dt
where τ is the control torque and e(t) is the attitude error.

2 Controller Design
2.1 PID Tuning Process
Tuning followed the Ziegler-Nichols method with iterative refinement:
1. Initial gains from frequency response analysis
2. Step response evaluation for transient characteristics
3. Disturbance rejection testing

1
2.2 Final Parameters

Table 1: Optimized PID Gains

Axis Kp Ki Kd
Pitch 1.2 0.01 0.05
Yaw 1.1 0.009 0.04
Roll 1.3 0.015 0.06

3 Simulation Results
3.1 Step Response

Figure 1: System response to 0.5 rad step input. Settling time: 2.1 s with
4.8 % overshoot.

2
Figure 2: Response to 0.3 N m sinusoidal wind gust between 1-4 seconds.
Maximum deviation: 0.12 rad.

3.2 Wind Disturbance Rejection

4 Performance Analysis
Key metrics achieved:

• Rise Time: 0.8 s (pitch axis)

• Steady-State Error: <0.01 rad

• Disturbance Rejection: 90% attenuation within 1.5 s

5 Implementation Challenges
During simulation development, several difficulties emerged:

5.1 Numerical Integration Issues


• Fixed time-step (0.01 s) instability at high gains

3
• Solved by implementing trapezoidal integration in the PID controller

5.2 Cross-Axis Coupling


• Unmodeled inertial coupling caused yaw oscillations

• Mitigated by adding a 0.02 s low-pass filter to derivative terms

5.3 Realism Limitations


• Idealized sensor modeling overestimates performance

• Future work will incorporate MEMS IMU noise characteristics

Conclusion
The PID-controlled TVC system meets all stabilization requirements with:

• Robust performance across test scenarios

• Effective disturbance rejection

• Minimal computational overhead

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