RANCANG BANGUN WAHANA TERBANG TANPA AWAK QUADROTOR DENGAN SISTEM KENDALI KESTABILAN ORIENTASI ROLL DAN PITCH

Abstract

Unmanned aerial vehicle (UAV) with four-rotor configuration is the development of Vertical Take-Off and Landing (VTOL) technology. This research is focused on the attitude control system design of the UAV called quadrotor. The design of the control system was initiated with developing dynamics model of the system. Proportional Integral Derivative (PID) control technique is applied with the feedback data obtained from six degrees of freedom Inertial Measurement Unit (IMU) sensor. The attitude control system is developed in two control modes, acro and auto mode. The experimental results show that the proportional parameter (Kp) value in acro mode is safe, ranging from 0.5 to 0.85 and differential parameter (Kd) value can be tuned in accordance with the pilot’s ability, which significantly affect the transient response of the system. The values of PID parameter in auto mode tend to be easier to tune than acro mode. The value of Kp in auto mode is safe, ranging from 2.5 to 4.5 and the value of Kd significantly eliminates the oscillation, the optimal value of Kd is reached at 0.0065.