| Electronics > Projects, Designs, and Technical Stuff |
| Question about Quadcopter PID Control. |
| (1/1) |
| 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 ! |
| Navigation |
| Message Index |