文件名称：pid调试经验
文件大小：173KB
文件格式：PDF
更新时间：2018-11-26 17:05:41
pid
Multirotor PID Tuning Guide NEVER do multirotor tuning with carbon fiber or carbon fiber reinforced blades. NEVER use damaged blades. For SAFETY reason, the default gains are set to small value. You HAVE TO increase the gains before you can expect any control responses. This tutorial is valid for all multi rotor setups (AR.Drone, PWM Quads / Hexa / Octo setups). Proportional, Integral, Derivative controllers are the most widespread control technique. There are substantially better performing control techniques (LQR/LQG) from the model predictive control, since these techniques require a more or less accurate model of the system, they not as widely used. The goal of all PX4 control infrastructure is move as soon as possible on MPC, since not for all supported systems models are available, PID tuning is very relevant (and PID control sufficient for many cases). Introduction