Modeling and Control Design of Quadcopter Motor

Adi Mulyadi, Wijono Wijono, Bambang Siswoyo

Abstract


This paper discussed the modeling and control design of quadcopter
motor. Modeling was performed using the Laplace transform
method. The quadcopter mathematical model was used as the load
torque of brushless dc motor to control the stability of altitude
vertical take-off motion. Motion stability was influenced by the
body frame mass, propeller speed, and wind disturbance during
hovering. Hence, the quadcopter motion experienced oscillation to
reach a steady state. The tuning of Ziegler-Nichols PID and fuzzy
gain scheduling PID were suggested to overcome the stability of
altitude vertical take-off motion. The simulation results showed that
fuzzy gain scheduling PID reduced the overshoot 0.1% smaller than
the Ziegler-Nichols tuning.


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References


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DOI: http://dx.doi.org/10.17977/um049v2i2p34-45

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Frontier Energy System and Power Engineering (FESPE), e-ISSN: 2720-9598

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