Comparison of calculation times of FOPID and PID controllers along with control quality for Two Rotor Aerodynamical System

Abstract

Two rotor aerodynamical system can be compared to a tethered helicopter. This is one of the systems in which the problem of cross-coupling occurs, which complicates the implementation of control. Therefore, in the case of TRAS system, four controllers are most often used. PID and FOPID controllers were used in different configurations in order to compare them. First, coefficients were selected using the Grey Wolf Optimizer algorithm. Then, based on simulation, a preliminary comparison of the controllers was made. In the next part, measurements were carried out on the real device. Based on the cost function, it was noticed that FOPID controllers achieve better results. In the case of FOPIDs, there may be concerns related to the calculation time. This is a valid question related to the possible application of this type of control for devices requiring control determination in real time. Therefore, the calculation times of the individual controllers were also measured and compared.