Control PID de altura de un Quadrotor

Sergio Andrés Beltrán Mendoza (1) , Omar Lengerke (2) , Hernan González Acuña (2) , Felix Mora-Camino (3)

1 Ingeniería Mecatrónica
2 Laboratorio de Diseño Mecatrónica y Robótica
3 LAAS-DISCO - Équipe DIagnostic, Supervision et COnduite

This paper contains the development of identification with the black box method and PID control of the lifting process (on the Y axis) of a model Quadrotor GAUI 330X, l The process involves developing a speed control loop angular of the motor and the sensor used was a CNZ1120 with its respective voltage-frequency converter. it is applied nonparametric methods Eyeball (Smith) and the parameters for model identification and PID closed loop control, the main objective of the research is ensure the desired speed at steady state, as a short settling time and an analysis of how to replicate this driver for each other achieve the lift.

Mots clés: Control; identificación; PID; Quadrotor; identification

Domaines: Automatique / Robotique

Sergio Andrés Beltrán Mendoza, Omar Lengerke, Hernan González Acuña, Felix Mora-Camino. Control PID de altura de un Quadrotor. CIIM 2011, 3er Congreso Internacional de Ingeniería Mecatrónica, Oct 2011, Bucaramanga, Colombia. pp xxxx. ⟨hal-00941260⟩