PID Control Tuning Based on Wind Speed Sensor in Flying Robot

Abstract

The problem that is often faced by flying robots when carrying out the Vertical Take Off Landing (VTOL) process is the lack of stability of the vehicle due to differences in wind speed at any time. This is because the PID that has been pre-tuned is the PID at a certain wind speed and it is possible that during the race the wind speed suddenly changes, causing the vehicle to be less stable in carrying out the mission. Therefore, this study proposes a PID Control Tuning Control system based on the Wind Speed Sensor. In experiments that have been carried out with anemometer readings of 1-5 m/s, the ideal tuning results are obtained with each parameter P_roll = 0.1453, I_roll = 0.0892, D_roll = 0.004, P_pitch = 0.144, I_pitch = 0.09, D_pitch = 0.004, P_yaw = 0.184, I_yaw = 0.0184, D_yaw = 0.00309. In experiments with anemometer readings of 6-10 m/s, the ideal tuning results were obtained with each parameter P_roll = 0.148, I_roll = 0.0905, D_roll = 0.004, P_pitch = 0.1444, I_pitch = 0.09, D_pitch = 0.004, P_yaw = 0.1867, I_yaw = 0.0181, D_yaw = 0.0037. In an experiment with an anemometer reading of 11-15 m/s, the ideal tuning results were obtained with each parameter P_roll = 0.1494, I_roll = 0.09, D_roll = 0.004, P_pitch = 0.1457, I_pitch = 0.0902, D_pitch = 0.004, P_yaw = 0.1894, I_yaw = 0.018, D_yaw = 0.0037. PID adjustment based on this anemometer sensor utilizes the latest real-time wind speed data to support the robot in order to overcome instability in certain wind conditions by tuning PID so that the vehicle can maintain stability when carrying out certain missions.