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PID Control Arduino Drones Mpu6050

This document discusses calibrating the PID constants for PID control of an Arduino drone. It recommends starting with a proportional (P) constant of 1 and increasing it if the drone does not oscillate. Then a derivative (D) constant can be added to react to changes in the error rate. Finally, an integral (I) constant of a very low value compared to P and D can be included but is not necessary. The goal is to tune the constants to achieve a balanced response without excessive oscillation.

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Taufiq Qurahman
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525 views

PID Control Arduino Drones Mpu6050

This document discusses calibrating the PID constants for PID control of an Arduino drone. It recommends starting with a proportional (P) constant of 1 and increasing it if the drone does not oscillate. Then a derivative (D) constant can be added to react to changes in the error rate. Finally, an integral (I) constant of a very low value compared to P and D can be included but is not necessary. The goal is to tune the constants to achieve a balanced response without excessive oscillation.

Uploaded by

Taufiq Qurahman
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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25/11/2017 PID control arduino drones mpu6050 mpu9250 gyro accelerometer euler msp432 rtos

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PID control with arduino

Part4 Calibrate the PID constants

MWD Sensors and Systems


Applied Physics- MWD & Near Bit Subs appliedphysics.com

To calibrate the PID constants we start with Kp = 1. This will give a


proportional response to the system. That means if the angle is -30º it's
logical to give 30 throttle more to the left side and 30 less to the right.
This will make the system oscilates from left to right and viceversa. If
with Kp = 1 it dosn't oscilates we can increase the Kp. When we have a
quite good result we can add the D constant. The I is not that important.
There are systems that only uses PD instead of PID. The D is the
constant that acts upon the speed of the error change. It reacts very
past. Increase the D value till you get a good result.

Arduino PID controller for one axis brushless drone motors


6.5K views • 20 comments

Finally add the I constant if you want. It's not necesary. It has to have a Electronoobs
very low value compared with the other ones.
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25/11/2017 PID control arduino drones mpu6050 mpu9250 gyro accelerometer euler msp432 rtos

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c/ELECTRONOOBS
This is my AC
Albert Einstein He
developed the general
theory of relativity, one
of the two pillars of
modern physics
(alongside quantum
mechanics).

The first integrated


circuit invented by the
engeneer Jack S. Kilby1
(1923-2005) contained
only a few transistors.
Texas Instruments.

ELECTRONOOBS
2017

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