DEVELOPMENT OF A SIMULATION MODEL FOR REGULATION OF THE ANGLE OF ROLL OF A QUADCOPTER USING A PID CONTROLLER
Nikita V. Belov, Boris Buyanov · SYNCHROINFO JOURNAL · 2023
Autopilot systems typically consist of an “inner loop” that provides stability and control, as well as an “outer loop” that handles mission-level objectives such as waypoint navigation. Unmanned aerial vehicle (UAV) autopilot systems are predominantly implemented using a control system with proportional, integral, and differential controllers that have demonstrated accuracy under stable conditions. A simulation model of the angle of roll of a quadcopter based on a PID controller was developed and investigated. The model reflects in two-dimensional space of the angles of inclination of the quadcopter. Several methods for calculating the coefficients of PID controllers are considered and the choice of the optimal one for solving the set task is made. Simulation modeling was carried out to stabilize the quadcopter in roll. For this purpose, a JavaScript page with a virtual quadcopter was written. The constructed simulation model allows you to visually evaluate the oscillations of the aircraft in space, which significantly reduces the time and cost of setting up the PID controller.