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
[0] Message Index
Go to full version