What is the best method to estimate and tune PID parameters for the stability of quadcopter ? and what is the easiest ?
Thanks in advance
Dear Alhasan,
I suggest you to see links and attached files on topic.
(PDF) Stability Control of a Quad-rotor Using a PID Controller
https://www.researchgate.net/.../284208489_Stability_Control_of_...
(PDF) Altitude Control of a Quadcopter - ResearchGate
https://www.researchgate.net/.../309486306_Altitude_Control_of_a...
Best regards
If you have a mathematical model like used in the previously attached file "TuningofPIDControllersforQuadcopterSystemusingHybridMemorybasedGravitationalSearchAlgorithmParticleSwarmOptimization.pdf", you may think of using MATLAB PID Tuner for each controller.
Note: Attached figure is collected from the previously mentioned pdf file.
Sure it it is easy to find the control gains using MATLAB PID Tuner with just a simple "click". However, the student won't learn the scientific reasons behind such tuned gains. The student won't be able to answer technical questions by the examiners or reviewers.
Before you learn how to tune the gain to produce the desired performance, you should learn how to find the range of control gains that produce the stable response, if the PID controller is applicable for the quadcopter's operating range.
Yew-Chung Chak
I totally agree with you, but the question was about the easiest way.
By the way, I couldn't know what is the tuning method used by MATLAB PID Tuner, at least I couldn't see it in MATLAB help.
Regards.
Isam Asaad Mohamed-Mourad Lafifi Yew-Chung Chak
Thank you sirs for your answers,
Yew-Chung Chak of course you are right.
I am not very familiar with PID controller, and the main idea of my graduation project is not about it, but i had to handle with this issue, so i looked for the easiest way.
Hi Alhasan Alkhatib,
It is common for most students to seek for the easiest way to solve their problems when they are under the time constraints in their projects.
My advice is to try the tuning methods as suggested by Prof. Mohamed-Mourad Lafifi and Isam Asaad. Then seek guidance from your project supervisor to double-check your work.
For example, if the PID controller is placed in the wrong loop, the MATLAB PID Tuner may not get it correct. Your supervisor should be able to identify this mistake.
I join the previous experts in their answers saying that tunning PID controllers has been studied by a number of great Professors such as Ästrom and Whittemark. But if you solve the Theoretical Issue, the practical aspects of just tunning comes out easily. It is a 3-axis stability problem and of you open MATLAB boxes you can identify the mathematical model. Very interesting problem. But answering questions after you have done the job is an important aspect of the whole thing.
Principles of Dynamics (2nd Edition) (English) 2nd Edition for example to answer questions.
For me, I prefer tuning PID controller using genetic algorithm (GA), I have already published an article showing how to tune these parameters using GA.
You can follow this link for my paper
Article Modelling and Genetic Algorithm Based-PID Control of H-Shape...
Good luck
The best way is to design a good simulator in the Matlab, and find a proper gains for the PIDs. After that, it's better to start your experiments and check the gains on the real system because there are many differences between the real plant and simulated system. However, if you would like to find more precise gains, it's better to use an accurate simulator assuming dynamics and aerodynamic effects and use some identification steps.
you can use this paper for this purpose:
Conference Paper Accurate Simulator for Motion of the Quadcopter; Assuming Dy...
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