四轴飞行器PID控制.pdfVIP

Recent Advances in Circuits, Systems, Telecommunications and Control An Application of 4-Rotor Unmanned Aerial Vehicle: Stabilization Using PID Controller GOKHAN GOL NILGUN FAZILET BAYRAKTAR EMRE KIYAK Department of Avionics Anadolu University Faculty of Aeronautics and Astronautics, Eskisehir, 26470 TURKEY gokhangol@anadolu.edu.tr nfbayraktar@anadolu.edu.tr ekiyak@anadolu.edu.tr Abstract: - This paper has been prepared for designing 4-rotor unmanned aerial vehicle (UAV) and carrying out its control with PID controller. In this context, it divides into four fundamental parts. First part describes what 4-rotor UAV is. Second part is about mathematical model of the 4-rotor UAV. PID controlling and its basic parameters have been analyzed theoretically in the third one. Finally, testing IMU sensors and some controlling applications have been carried out and their outputs have been presented. As a result, the stabilization in desired level has been obtained via designed PID controlling system. Key-Words: - UAV, PID controller, flight control 1 Introduction propellers to allow to tilt [7], for coaxial quadrotor Since eras when people and flying creatures lived to be designed [8], for aerodynamic and mechanical together, the act of flying has aroused the curiosity model of in the human mind. Such being the case, aviation UAV constructed from carbon composite sector becomes one of the fast-growing secto