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PID control

Tune proportional, integral and derivative gains using target and drone height response.

    E12 · PID control0.00 s · Ready

    Mechanical Engineering · Stability and control / Principles and inquiry

    PID control experiment guide

    Tune proportional, integral and derivative gains using target and drone height response.

    How does it work?

    Stable integral control removes steady-state error from a constant disturbance.

    Key relationship

    u = Kp e + Ki∫e dt − Kd ḣ · ḧ + 2ḣ = u + disturbance

    Try this investigation

    1. Tune proportional, integral and derivative gains using target and drone height response.
    2. Run and record each of the three reference settings.
    3. Change one variable and compare force, deformation or response with the reference records.

    Interpreting your results

    How is settling time defined?

    Time after which error stays within 2% of target · Stable integral control removes steady-state error from a constant disturbance.

    Assumptions and limitations

    A 1 kg vertical model with 2 N·s/m drag uses RK4 for 30 s. Baseline hover thrust cancels gravity. Saturation, delay, noise and ground collision are omitted. Final error may differ from steady-state error. Do not imitate real drone flights.