Classical PID Control of A Quadcopter UAV Under Variable Load Conditions

Abstract

In recent years, the application of UAVs has become more and more extensive, resulting in a number of special operation UAVs. Quadrotor aerial robots have become one of the most popular vehicles at home and abroad because of their small size, light weight, simple structure, low cost, low requirements for takeoff and landing, and good maneuverability. UAVs are required to perform different tasks in the current complex environment, so variable loads are inevitable, and the stability of the UAV body is especially important when performing variable loads, and there are many ways to help and verify the attitude of the UAV during flight. In this paper, in order to more intuitively see the self-generated stability of the UAV under variable load conditions, the dynamics model of the UAV will be established first, and the simulation results show that the movement of the UAV has a very good stability. However, in the previous research, it is not possible to visualize the stability and flight state of the UAV when it is flying under variable load, this paper will make the UAV keep its own flight stability under two kinds of loads through the PID design model. At the same time, the function of the UAV's own mass change during flight is found, and the design function is used to show the stability curve of the UAV when it flies with its own changing mass. Through the final simulation and calculation, the experiment found that through the PID control, the flight state of the UAV when flying with variable load can be observed more intuitively, and the stability state of the UAV when flying can also be observed.