Designing a PID Pitch Controller with HIL Solution for Maintaining Stability and Controllability of a Hybrid Airship

With the growing demand of low-cost transportation service, Hybrid airship plays a significant role for providing this service as a cargo nowadays.This paper deals with the controller design for winged hybrid airship with suspended payload for maintaining stability and controllability of the system.Controller design is required for the system to achieve desired tracking performance and collision avoidance for closed loop analysis.Internal Model Control (IMC) compensator is also designed to make few subsystems represented as velocity transfer function stable.The system is a small sized winged hybrid airship with attached suspended payload and having controlling maneuvers like elevator.The system taken is discussed as an approach of single body longitudinal dynamics.A Proportional-Integral-Derivative (PID) controller has been designed for pitch control of hybrid airship including collision avoidance in the pitch up and pith down path.A Hardware-In-the-Loop (HIL) solution also provided for the designed PID controller on UNO kit.Open loop and closed loop stability analysis is done for the longitudinal dynamics of winged small sized hybrid airship.Internal model compensator is required to make overall system as a stable system.A Simulink model for longitudinal dynamics of the hybrid airship with controllers and compensators is developed and result is analyzed and verified with open literature.Overshoot of u is the problem, although it settles to zero trim values within 30 sec.Except that all other parameters of longitudinal dynamics settle to equilibrium points within few seconds.Altair Embed software is used for HIL development.