Controlling Quadcopter Altitude using PID-Control System
Ayele Terefe Bayisa · International Journal of Engineering Research and · 2019
This work presents the stabilization of a quadcopter by using PID controllers to regulate its four basic movements: roll, pitch, yaw angles, and altitude.The quadcopter was originally equipped with sensors and software to estimate and control the quadcopter's orientation, but did not estimate the current position.A GPS module, GPS antenna and a lidar have been added to measure the position in three dimensions.Filters have been implemented and developed to estimate the position, velocity and acceleration.The position controller maintains a constant position, while the trajectory controller maintains a constant velocity while travelling along a straight line.These position and trajectory controllers calculate the reference angles required to direct the thrust necessary to control the quadcopter's movement.The system also consists of IMU (Inertial Measurement Unit) which consists of accelerometer and gyro sensors to determine the system orientation and speed control of four motors to enable the quadcopter fly.Simulations analysis of quadcopter is carried out using MATLAB Simulink.