Model of P controller’s effect on tension of UAV motor

Abstract

The tuning of the multi-rotor UAV PID parameters is a long and iterative process, and sometimes it is impossible to find a suitable magnitude. To improve the setting efficiency of control parameters, the classic PID control algorithm is combined with the dynamic model of the UAV to build a mathematical model that describes the effect about parameters of P controller on the tension of brushless motor. Computer simulation and open-loop experimental verification were conducted under the change of parameter of P controller. The simulation and experimental results show that this mathematical model describes the effect of parameters of P controller on the UAV motor’s tension under different attitude angle errors. When the parameters of the P controller are input to the UAV which has determined the parameters of the power system, the motor’s tension can be calculated directly from this model, and this model can assist in determining the magnitude of parameters of the P controller.