Quadcopter Seminar Report

The main goal of our quadcopter would be for it to able to stabilize itself autonomously. This is executed by running three mutually independent proportional-integral-derivative (PID) controllers, one for each of the three prime degrees of freedom namely roll, yaw and pitch. The input is left for the user, considering that the altitude does not need constant adjustments for maintaining a stable flight.

Each of the PID controllers takes an input for control, for e.g., the pitch controller requires pitch angle, along with a set point value. To attain stable hovering, the set point for each controller should be zero, a state in which the quadcopter is ideally leveled to the surface. For moving, the set point is regulated up or down making the quadcopter tilt in the desired direction of motion.

For real time applications, each PID controller computes the adjacency of the prevailing control input with the desired output, the rate at which the output is advancing the set point, along with the time duration for which the input drifted from the set point. These computations would respectively make up the proportional, integral, and derivative elements of the control

as an example once the quadcopter is disturbed and its angle changes twenty degrees, in theory it remembers what proportion the angle has modified and can come twenty degrees. In apply if you create your quadcopter travel and therefore the force it to prevent, the quadcopter can continue for a few time to counteract the action. while not this term, the opposition doesn't last as long. This termis very helpful with irregular wind, and lift (turbulence from motors). However, once the I price gets too high your quadcopter would possibly begin to possess slow reaction and a decrease impact of the Proportional gain as consequence, it'll conjointly begin to oscillate like having high P gain,however with a lower