APPLICATION OF PID REGULATORS IN STABILIZATION AND MOTION CONTROL OF QUADCOPTER
DOI:
https://doi.org/10.24867/07BE30BozicKeywords:
drone, quadcopter, accelerometer, gyroscope, PID, BME280, NRF24L01, MPU6050, MPU9250, STM32Abstract
The paper presents one of the ways of implementing a remote control aircraft - a quadcopter whose STM32F103C8T6 controller is used, to determine the position of the aircraft using an inertial IMU MPU9250 sensor (accelerometer and gyroscope) while brushless motors are used for actuators. The sensor and actuator part connects the three PID controllers implemented in the controller. It is controlled by radio communication on the 2.4GHz communication module NRF24l01. The aircraft provides temperature, humidity and atmospheric pressure data using a BME280 sensor.
References
[1] https://i.stack.imgur.com/4fA1L.png (pristupljeno u oktobru 2019.)
[2] http://www.brokking.net/ymfc-al_main.html (pristupljeno u oktobru 2019.)
[3] M. F. Silva et al., "Design of angular PID controllers for quadcopters built with low cost equipment," 2016 20th International Conference on System Theory, Control and Computing (ICSTCC), Sinaia, 2016
[4] https://www.researchgate.net/figure/An-example-of-the-PWM-signal-under-the-OneShot125-protocol_fig12_327417180 (pristupljeno u oktobru 2019.)
[5] W. Zhu, Y. Dong, G. Wang, Z. Qiao and F. Gao, "High-precision barometric altitude measurement method and technology," 2013 IEEE International Conference on Information and Automation (ICIA), Yinchuan, 2013
[6] https://quadmeup.com/pwm-oneshot125-oneshot42-and-multishot-comparison/ (pristupljeno u oktobru 2019.)
[2] http://www.brokking.net/ymfc-al_main.html (pristupljeno u oktobru 2019.)
[3] M. F. Silva et al., "Design of angular PID controllers for quadcopters built with low cost equipment," 2016 20th International Conference on System Theory, Control and Computing (ICSTCC), Sinaia, 2016
[4] https://www.researchgate.net/figure/An-example-of-the-PWM-signal-under-the-OneShot125-protocol_fig12_327417180 (pristupljeno u oktobru 2019.)
[5] W. Zhu, Y. Dong, G. Wang, Z. Qiao and F. Gao, "High-precision barometric altitude measurement method and technology," 2013 IEEE International Conference on Information and Automation (ICIA), Yinchuan, 2013
[6] https://quadmeup.com/pwm-oneshot125-oneshot42-and-multishot-comparison/ (pristupljeno u oktobru 2019.)
Downloads
Published
2020-03-02
Issue
Section
Electrotechnical and Computer Engineering
