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http://dx.doi.org/10.15207/JKCS.2020.11.11.195

The modified Ziegler-Nichols method for obtaining the optimum PID gain coefficients under quadcopter flight system  

Lee, Sangrok (School of IT Convergence Engineering, Shinhan University)
Publication Information
Journal of the Korea Convergence Society / v.11, no.11, 2020 , pp. 195-201 More about this Journal
Abstract
This paper implemented quadcopter-type drone system and proposed the heuristic method for obtaining the optimum gain coefficients in order to minimize the settling time. Control system for quadcopter posture stabilization reads the posture data from accelerator and gyro sensor, revises the original posture data using Mahony filter, and drives 4 DC motors using PID controller. The first step of the proposed method is to obtain the gain coefficients using the Ziegler-Nichols method, and then determine the optimum gain coefficients using the heuristic method at the next 3 steps. The experimental result shows that the maximum overshoot decreases from 44.3 to 29.8 degrees and the settling time decreases from 2.6 to 1.7 seconds compared to the Ziegler-Nichols method. Therefore, we proved that the proposed method works well in quadcopter flight system with high motor noise while reducing trial and error to obtain the optimal PID gain coefficients.
Keywords
Quadcopter; Drone; PID controller; Gain coefficient; Ziegler-Nichols method; Settling time;
Citations & Related Records
Times Cited By KSCI : 10  (Citation Analysis)
연도 인용수 순위
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