Journal of Aerospace System Engineering (항공우주시스템공학회지)
- Volume 4 Issue 4
- /
- Pages.18-27
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- 2010
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- 1976-6300(pISSN)
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- 2508-7150(eISSN)
Quadrotor Attitude Stabilization by Using PID Controller
PID 제어기를 이용한 쿼드로터 자세 안정화
- Kim, Yongyoung ;
- Shin, Junhee ;
- Lee, Sunik ;
- Lee, Hyounggon ;
-
Lim, Hyunmin
;
- Kim, Kwangjin ;
-
Lee, Sangchul
- 김용영 (한국항공대학교 항공우주 및 기계공학부) ;
- 신준희 (한국항공대학교 항공우주 및 기계공학부) ;
- 이선익 (한국항공대학교 항공우주 및 기계공학부) ;
- 이형곤 (한국항공대학교 항공우주 및 기계공학부) ;
-
임현민
(한국항공대학교 항공우주 및 기계공학부)
;
- 김광진 (한국항공대학교 항공우주 및 기계공학부) ;
-
이상철
(한국항공대학교 항공우주 및 기계공학부)
- Published : 2010.12.31
Abstract
Quadrotor is an aircraft which is possible in Vertical Take-off and Landing(VTOL). This aircraft can not only be created as an Unmanned Aerial Vehicle(UAV), but also can be easily used in various fields because of its simplicity of construction. This study is mainly conducted with two main purposes. The first goal is designing the quadrotor focusing on the lightweight and protecting the airframe. The second purpose is stabilizing the quadrotor's attitude by using the PID controller. MATLAB simulation is performed for obtaining PID gain based on equations of motion. We used the compensation filter technique for the calibration of sensor data. PID gain has been drawn out based on the MATLAB simulation. The efficiency of the attitude control is improved by calibration of sensor data.
Keywords