Study on Dynamic Balance PID Control Algorithm and Its Application on the Quadrotor

Abstract

This paper aims to present a dynamic balance PID control algorithm for the quadrotor, and the control algorithm combines the dynamic balance algorithm and the regular PID control algorithm. The proposed control algorithm used an angle as the set point of the PID controller. The selected angle is oriented opposite the sampling value of the inclination angle of the quadrotor, and its absolute value is smaller than the sampling value of the inclination angle. By using Newton–Euler equation approach, the mathematical model of the quadrotor is derived. And the simulation model is built based on the mathematical model in MATLAB. A simulation control system for the quadrotor which is based on the dynamic balance PID control algorithm is built. Simulation results show that by using the dynamic balance PID control algorithm, the inclination angle of the quadrotor can be controlled to a set error range, which validate the proposed control algorithm.