How are PID and LQ controllers used in quadcopters?
Position and Trajectory Control of a Quadcopter Using PID and LQ Controllers Axel Reizenstein Master of Science Thesis in Electrical Engineering Position and Trajectory Control of a Quadcopter Using PID and LQ Controllers Axel Reizenstein LiTH-ISY-EX–17/5075–SE Supervisors: Kristoffer Bergman isy, Linköpings universitet Erik Ekelund SAAB Dynamics
How is the position of a quadcopter estimated?
The position and velocity of the quadcopter is estimated in a local Cartesian co- ordinate system instead of global, spherical coordinates. This results in a limited range before the Cartesian estimates starts to deviate from the actual position.
How are angle controllers used in a quadcopter?
Combined with the fact that the system is underactuated, this means that advanced estimation and controller algorithms are required to control the quadcopter (Zemalache et al., 2005). The platform used in this thesis is provided by saab Dynamics. Previously, Kugelberg (2016) used black-box modeling to implement angle controllers.
What does the PID stand for in a flight controller?
PIDstands for Proportional, Integral, Derivative, it’s part of a flight controller softwarethat reads the data from sensors and calculates how fast the motors should spin in order to retain the desired rotation speed of the aircraft.
Is there a way to control the position of a quadcopter?
Additionally, an algorithm has been developed to de- crease overshoot by predicting future trajectories. These controllers have proven to be successful at controlling the quadcopter’s position in all three dimensions, both in practice during outdoor flight and in simulations.
How is tuning a quadcopter PID an art form?
Quadcopter PID tuning really is an art form. Understanding how to balance different aspects of the flight characteristics to make the craft respond perfectly for your particular flying style, doesn’t happen over night.