Design and Testing of an Arduino-based PID Control System

Abstract

Drones depend on advanced control systems for successful flight. Because drones are subjected to strong variable drag and gravitational forces during flight, there is a need for onboard sensors, monitored by microcontrollers, to correct mid-flight vectors. We have designed and tested a stabilization system using Proportional-Integral-Derivative (PID) control to balance a 2 degree-of-freedom platform. We use anAXL9250 accelerometer/gyroscopic sensor interfaced to an Arduino microcontroller. This combination of Arduino microcontroller, PID control algorithm, and accelerometer/gyroscopicsensor allow us to balance two electronic ducted fans in a stable hovering configuration.Design parameters including electronics, PID control algorithm, and mechanical setup will be presented.