PID controller Simple explanation with a Quadcopter as example.

This video is about a pid controller with a practical example. You will briefly know what a pid controller is and understand the variation of gains in pid loop. The integral gain is crucial in any process*.

Please leave any suggestions in comments.

Resources:

For esp32 flight controller and WiFi pid tuning code.

References:

[priyanshpanchal]

Honestly speaking brother I am studying Aerospace Engineering in one of the best universities in the world rn and even proffs here don't explain half as good as you did.... Massive respect

[satish]

Sir you have explained this very well . Keep it up

[johnathonwalty]

Thank you for this nice explanation with real world example. Very cool.

[creativeflash]

Such a beautiful explanation to to let everyone understand flying mechanics in physical space

[MehradZhand]

Well done. simple and effective. I just think you were on the right track before adjusting the D value. I believe you still needed to fine-tune the P value until the drone could level quickly. Then, you could adjust the D value to suppress any oscillation. This means the P value should be close to the final setting before moving on to the D value. After that, you can either make small adjustments to both P and D values or start tweaking the I value.

[PAMarechal]

Good Job. You can also use the Ziegler-Nichols method to calculate the coefficients for I and D. It was developed by John G. Ziegler and Nathaniel B. Nichols. The method presented here uses the generation of continuous oscillation in a closed loop.

[VUIIA]

Nice PID demo, will check your GH, liked & subscribed .

[Hmingmawia_Ralte]

Subscribed, thats awsome bro. We buy flight controller and use some presets; but you build it yourself 😁 you are amazing.

[DheerajSinghal]

Nice work, I also worked on flight controller development long ago....

[youeladamas]

Very nice lesson you should teach class pid controllers are used in many things aswell. Also wear a glove while doing this testing your a pilot don’t hurt your hands

[nightshowdown]

as always video is just great and very informative
i like your work and salute you for all the hardwork you do for a single video
🫡

[drodkung]

Wooow! Good work, thanks for your video bro :)

[rlrentertainmentsinventions]

Nice Explanation bro try to increase volume for your new videos

[pixstrome]

Well explained keep it up! 😁 That's me! 5:16!

[fifaham]

@10:42 the center of gravity in this case is not aligned with the frictionless horizontal bar, this doesn't represent the actual calibration. Your ideal axis of swivel must change to probably adding a vertical frictionless bar that is collocated with frictionless horizontal for a valid calibration. Alternatively, you may need to figure out where exactly the COG located and hang the drone right on that COG point.

[ro-kgvb]

I think I should be zero here. The angle is already an integration and the rotation speed of the motors also change slowly, I mean when you have a new controller output, the motor speed is still the same and needs time to change, almost like another integration. So it is not good to add even more I in the controller. You could also try to use 2 control loops. So the inner loop is the pitch RATE controlled by an PID controller that gets the target pitch rate from the outer loop, that is also an PID control loop. The outer loop should have I gain = 0. The first step of tuning is that the inner loop only so the copter can rotate at a rate that you want. If that works, add the outer loop. The horizontal bar is also an issue as others already commented. I'd suggest to use a thread that is connected so it fits the center of gravity. A thread will have almost no friction but limited number of rotations. So I'd keep the horizontal bar until the control works good enough so that the number of rotations is not an issue anymore.

[fifaham]

@11:00 when the drone flies in the air it will have completely different COG location point. This is due to the fact that the parts are not distributed perfectly symmetrical relative to the center.

[VikramRaj-yq]

Use brushed motor and use wifi capabilities of ESP 32 for communication to create a drone from scratch

[MrIigmac]

Nice work. this is helpful. Im still working with a bread board on my esp32s3, i glued it to my prototype 3d print drone.

I had this idea of using airflow sensors to maybe add another layer of stability or accuracy. Maybe you find this idea interesting.

Im still waiting on step up voltage converter.

[nareshyadav-kisv]

Plz introduce the PID value in the running mode of the machine then check what happened it will be more clear.