Advantages of a combination of PD and PID controller over PID controller in the example of quadcopter control and stabilization

Abstract

This paper presents the problem of control and stabilization of a quadcopter in a real environment and one of the solutions to improve the classical PID controller by applying a combination of PID and PD controller. An algorithm for implementing a PID controller in a discrete form is given, with the possibility of switching off the integral effect of the controller during operation, thereby achieving the PID-PD controller. The criterion for switching the I controller on and off depending on the size of the controller input error is shown. Other ways of discriminating against I regulators are also listed and a brief overview is given. The results were obtained in computer simulations using the example of an arbitrary system controlled by a PID controller then the controller was replaced with a new PID-PD controller and the results are shown in graphs. The second test was performed experimentally by testing on the OROZ (quadcopter) development system, which enabled real-time monitoring of the system response, providing data via Bluetooth communication so that data from the real system could also be displayed on the graph. Both management modes (PID and PID-PD) from the development system are shown in graphs. In conclusion, a comparison of the two types of controllers was made, as well as a comparison of simulation results and results from a real environment, and an explanation of the justification for using a new type of controller was given.