Drone Simulation and Control, Part 5: Tuning the PID controller
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- เผยแพร่เมื่อ 7 มิ.ย. 2024
- In the last video, we learned how accurate, nonlinear models are great for simulation but they don’t lend themselves well to linear analysis and design. This video takes the nonlinear model of the Parrot Minidrone and builds a linearizable model that can be used for tuning the 6 PID controllers in our control architecture.
We use the PID tuner app in Simulink to tune the altitude control loop and show why having a good model of your system is fundamental to Model-Based Design.
Related resources:
• Programming Drones with Simulink: bit.ly/2CdbFq7
• Quadcopter Modelling with Simulink: bit.ly/2CbdeVj
You can also program drones and unmanned aerial vehicles (UAVs) using an autopilot such as PX4. You can interface and deploy MATLAB and Simulink model to PX4 using the PX4 Hardware Support Package in UAV Toolbox
• PX4 Hardware Support Package: bit.ly/PX4Autopilots
• Learn more about UAV Toolbox: bit.ly/UAV-Toolbox
Learn more about Aerospace Blockset: bit.ly/AerospaceBlockset
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Hi everyone! I hope you enjoyed this video. If you have any questions or comments you'd like me to see, please leave them on this comment so that I get notified and can respond. Cheers!
Brian, how about apply control in power electronics? A current source circuit, buck converter, boost converter. I miss the integration between both subjects. Thanks!
Hi @@jeffersonpimentamelo. Great suggestions! Control within power electronics is actually one of the topics that Mathworks would like me to cover in the future (maybe Spring-ish). The video list changes over time as we think of more interesting topics to cover but for now, it's in the queue!
Hey Brian. I'm a mechanical engineering student and for a UAS competition me and my team have to build a drone that is fairly autonomous (be able to drop a payload and go to certain check points in a field by detecting targets). Which of your videos do you recommend watching to help achieve this?
Brian i am done with the series It was awesome, thank you. I want to do some kind of exercise or practice to test my understanding. What do you recommend? I wish to eventually to be able to be able to design the whole simulink model from scratch....
It'd be great if you could go a little into using this stuff on homebuilt drones, rather than commerical ones (perhaps those running on arduinos?)
I truly feel short of words to express my gratitude for this video series. This gave me so much clarification regarding the model-based design and control of a real hardware system. You are an incredible teacher. Thank you for inspiring and helping us be a better control system engineer.
That series was very great and helpful.Thanks @Brian Douglas....By the way, i am also working on quadcopter control but rather then using Parrot Mini drone, i have developed my own f450 quadcopter running on Arduino due which is then interfaced with Simulink...And its flying great.
Hey! I am trying to do that exact same project. I am having some trouble. Think you would be able to give me some help?
I was about to feel so depressed when Brian said 'I don't have time ' after the drone experiment failed and then I felt so excited when Brian came again and said' okay I changed my mind I don't wanna leave this vido with a failed experiment'. 👍👍👍😃
WOW!, I was able to connect the Parrot to simulink, I am already with the initiation examples. Excellent thank you very much.
Fernando Liozzi
I also need link to simulate this . I am facing samd problem
Can you share a link to the modified project ?, Since I can not follow you, it goes very fast. Greetings.
@Brian Dounglas: Suppose the On-board hardware system is based on FPGA and DSP where the FPGA is in charge for the low-level algorithm and DSP for the high-level algorithms, but both devices communicate through a UART interface. Would Matlab still make the work easier for FPGA?
Amazing!
Is it possible to use my Matlab/Simulink home edition for the Experiments with the Parrot hardware support? The number of the virtual blocks is limited to 1000 with this licence.
Bravo, matlab is the best!
Thank you
If you were able to make the same modifications to the video, please send me a link with the modified project. I followed the same steps and it did not work.
awesome!!
Like how you end the video!
I have met the model linearization problem, include the port type mismatch. I just turn the data type from 'single' from ' double'.And it works.
can you tell me which block should I change the data type to double? thank you
Please, you could make a video making the identification of the system, with the input and output data. I have looked and made several control problems identifying systems, but I would like you to make the identification of this drone. I already have it working with Simulink and I'm doing everything you've done so far in the videos. Many thanks.
I support this idea too. We need to learn system identification in matlab.
Sorry if I missed that part but what do you use as a hardware for this project? What is the drone you use for example? Thx in advance.
Ah, yeah, I go over it in the first part but don't repeat it again in the other videos. This is the Parrot Mambo mindrone and I've connected it to Simulink with the Parrot Minidron Hardware Support Package. www.mathworks.com/hardware-support/parrot-minidrones.html
Hello Brian, can you help me solve this mistake? I did exactly as video though this error occurred:
Data type mismatch. Input port 4 of 'untitled/ControlMixer' expects a signal of data type 'double'. However, it is driven by a signal of data type 'single'.
Component:Simulink | Category:Model error
Data type mismatch. Output port 1 of 'untitled/Controle de Altitude' is a signal of data type 'single'. However, it is driving a signal of data type 'double'.
Hello. Same Problem Here. Did you manage to fix it?
@@sohailali3466 same problem, have you solved it?
Hello, I bought a Parrot Mambo Fly, a Bluetooth dongle CSR 4.0, I installed the harmony driver that you left in a link. The bluetooth works well, I can connect devices, transfer files and music. But when it comes to connecting the drone, only one icon appears, and it will not let me connect it.
la.mathworks.com/help/supportpkg/parrot/ug/connect-parrot-mambo-minidrone-to-computer-using-bluetooth.html?searchHighlight=connect%20parrot%20bluetooth&s_tid=doc_srchtitle
I have not tried this option yet, when I get home I will try, and comment. la.mathworks.com/help/supportpkg/parrot/ug/minidrone-not-found-by-bluetooth-scan.html
Dear Brian,
I am getting the following error.
Data type mismatch. Input port 4 of 'controller_tuning/ControlMixer' expects a signal of data type 'double'. However, it is driven by a signal of data type 'single'.
Component:Simulink Control Design | Category:Linearization error
Data type mismatch. Output port 1 of 'controller_tuning/altitude controller' is a signal of data type 'single'. However, it is driving a signal of data type 'double'.
Hello. Same Problem Here. Did you manage to fix it?
@@sohailali3466 same problem, have you solved it?
finally make it through...
6:28, why the P signal minus the D signal ? is that supposed to be added?
maybe D produces a negative output
@@k1ngjulien_ maybe，I'm still very confused
Probably because the z-axis negative is up. So the error derivative is the opposite. And the minus fixes it.
Because the d term is acting on the measured value. Its called derivative on measurement, thats why its negative.
the package that i have does not have the same model why? i am using matlab 2019, i cant find the mambo
ah it works , just type asbQuadcopterStart dont open it from simulink block
Were you still able to tune?
@@xXKM4UXx nope :D
Hi Brian
I am student at Istanbul Technical University. My friend and I are working on parrot mambo as a graduation project. We have a problem. We can fly parrot mambo but it is drifting. Two days ago we noticed something under the parrot to put colored objects in the drifting is disappearing. It is about marker but we cannot understand what is the marker and how can parrot mambo detect a marker in simulink blocks. How can we understand parrot mambo detect a marker in simulink blocks?
Optical flow, altta kamera var, yerin detayli olmasi gerekiyor yani siyah bant ile x isaretleri koyun etrafina boylece drone kalktiginda isaretleri algilayip sabit durabilir oldugu yerde. 100% kipirdamayacak degil tabii.
Are you still working on this project? I am currently and would like some help
when is the next video releasing ????
You must have a NASA computer if you can handle so many Simulink windows simultaneously.
KRALLLLLL
Could you please help me to establish UAVs mathematical model? Please save my life please Sir please
I hate when he goes back to simulink :(