Modeling, simulation and implementation of a modified PID controller for stabilizing a quadcopter
Modeling, simulation and implementation of a modified PID controller for stabilizing a quadcopter
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用于稳定四轴飞行器的改进 PID 控制器的建模、仿真和实现
DOI：
10.1109/ica-acca.2016.7778507
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
W. Ipanaqué
中科院分区：
文献类型：
--
作者：
Ernesto Paiva;J. Soto;Julio Salinas;W. Ipanaqué
本文给出了四轴飞行器的数学模型。在SIMULINK中开发了一种改进的PID控制算法，在虚拟环境中观察了系统的行为。在嵌入式系统中实现了PID控制器。四轴飞行器被安装在试验台上，以向外力屈服。最后，对室外场景进行了实际测试，验证了所提出的PID控制器的有效性。
This paper presents the mathematical modeling of a quadcopter. A modified PID control algorithm in Simulink is developed, observing the system's behavior in a virtual environment. PID controller is implemented in an embedded system. The quadcopter is attached to a test bench for submission to external forces. Finally, real test on outdoor scenarios have been made to validate the proposed PID controller.