Double-Loop PID Controller for Quadcopter Attitude Stabilization 


Vol. 44,  No. 4, pp. 748-754, Apr.  2019
10.7840/kics.2019.44.4.748


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  Abstract

In this paper, we implemented quadcopter system using sensor-fusion filter and double loop PID controller in order to support stable hovering and flight. The double loop PID controller consists of an inner loop and an outer loop. Inner loop is an angular velocity PID controller, and outer loop is an angle P controller. And Mahony-based sensor-fusion filter using accelerometer and gyroscope is adopted to estimate the flight attitude. Quadcopter control module is implemented using ST32F103RB of 32-bit microcontroller and IMU sensor of 3-axis accelerometer and 3-axis gyroscope. We analyzed the effect of each gain factor on stabilization in double loop PID controller. Finally, the double loop PID controller using angle and angular velocity shows better response time and stabilization than the single PID controller using only angles. In particular, we confirmed that the stabilization time of the double loop PID controller is shortened by about 20% compared with the single PID controller.

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  Cite this article

[IEEE Style]

D. Jeon and S. Lee, "Double-Loop PID Controller for Quadcopter Attitude Stabilization," The Journal of Korean Institute of Communications and Information Sciences, vol. 44, no. 4, pp. 748-754, 2019. DOI: 10.7840/kics.2019.44.4.748.

[ACM Style]

Du-Seon Jeon and Sangrok Lee. 2019. Double-Loop PID Controller for Quadcopter Attitude Stabilization. The Journal of Korean Institute of Communications and Information Sciences, 44, 4, (2019), 748-754. DOI: 10.7840/kics.2019.44.4.748.

[KICS Style]

Du-Seon Jeon and Sangrok Lee, "Double-Loop PID Controller for Quadcopter Attitude Stabilization," The Journal of Korean Institute of Communications and Information Sciences, vol. 44, no. 4, pp. 748-754, 4. 2019. (https://doi.org/10.7840/kics.2019.44.4.748)

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pISSN : 1226 - 4717
eISSN : 2287 - 3880