Ziegler-Nichols Customization for Quadrotor Attitude Control under Empty and Full Loading Conditions
作者机构：Federal Institute of EducationScience and Technology FarroupilhaCampus PanambiPanambiBrazil Regional University of the Northwest of the State of Rio Grande do SulIjuíBrazil
出 版 物：《Computer Modeling in Engineering & Sciences》 (工程与科学中的计算机建模（英文）)
年 卷 期：2020年第125卷第10期
页 面：65-75页
核心收录：
学科分类：08[工学] 0835[工学-软件工程] 081101[工学-控制理论与控制工程] 0701[理学-数学] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 0812[工学-计算机科学与技术（可授工学、理学学位）]
基 金：UNIJUÍ
主 题：Ziegler-Nichols quadrotor control PID tuning multirotor
摘 要：An aircraft quadrotor is a complex control system that allows for great flexibility in *** multirotor aerial systems such as quadrotors is complex because the variables involved are not always available,known,and *** inclusion of payload changes the dynamic characteristics of the aircraft,making it necessary to adapt the control system for this *** the various control methods that have been investigated,proportional-integralderivative(PID)control offers good results and simplicity of application;however,achieving stability and high performance is challenging,with the most critical task being tuning the controller *** Ziegler-Nichols(ZN)theory was used to tune the controller gains for pitch and roll attitude command;however,the performance results were not *** response of this system was refined,resulting in an improvement in the reference tracking and the rejection of *** particular refinement was applied to the quadrotor,and via a reverse calculation,the parameters that allow the tuning of PID gains were obtained,based on *** particularization of the ZN theory applied to a quadrotor with and without a load(termed ZNAQ and ZNAQL,respectively)is proposed and results in a significant improvement in the control system response performance(up to 75%),demonstrating that ZNAQ and ZNAQL are valid for tuning the controller PID gains and are more efficient than the original ZN theory approach.
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