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Question about Quadcopter PID Control.
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ammjy:
Hello, EEVBlog peoples.

Thanks you for your time.

Now, to design my own Quadcopter simulink model, I am studying one model that I have found in Github.

About it I have a few questions.

first, Please see the attached 1-st and 2-nd screenshot. The developer of this model have made PID controller as follows.

Still I am not sure why developer have connect P(Angular Velocity) with "D" controller.

and also at same time I don't understand why developer have used P signal for D controller.
(I guess P should be needed connect with D controller to make connected result between each dynamics channels such as PQR PhiThetaPsi UVW XYZ 12 states.
but, I am not sure about it...)




and my second Curios is Correction circuit part. Please, see the 3-rd screenshot.

PID controller of this model making 4 output signals, "Phi, Theta, Psi, Altitude" like this from the Inputs.

and this model convert that 4 output signals to 4 RPM signal with this correction circuit after PID controller.

I fully understand why this correction circuit is needed.
but, I can't make definite mathematical base about it.
I can just use this circuit and equation(right side) for my own model. but, minimum I want build some mathmatical clue in my brain.

If you don't mind, Could you give some clues for it ?

Please, let me know.
Thanks you for reading it !
pwlps:

--- Quote from: ammjy on October 23, 2019, 06:38:29 pm ---
Still I am not sure why developer have connect P(Angular Velocity) with "D" controller.


--- End quote ---

The angular velocity is the time derivative of the angle, so it is normal to use it as the derivative term of the PID.
ammjy:
Thanks you for your time, Mr. Pwlps !

oh yes.. I missed that point during looking up clue of it.

Thanks you !
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