Optimizing P.I.D parameters in controlling accelerometters and gyroscopes in self-balancing quadrotors

Tóm tắt

The algorithm that calculates PID controller consists of three separate parameters, so sometimes it is also called three stage control: the proportion, integral and derivative values, referred to as P, I, and D. The proportion value determines the impact of the current uncertainty, the integral value determines the total impact of past errors and the derivative value determines the value of the differential impact of error variable speed. Total short of three effects are used to adjust the process via a control element such as the position of the control valve or the source of the heating element [1].
In this paper the authors find and optimize 3 constants in the algorithm of the PID controller.The controller can be used in the designs that have special requirements. The response of the controller can be described in terms of the sensitivity of the controller error. The error values are compared with set point value of the controller and the value of fluctuations of Quadcopters