University ofZawia

Faculty of Engineering - Zawia

DEPARTMENT OF ELECTRICAL CONTROLENGINEERING

UNIVRSITYOFZAWIA

PID controller design for a UAV quadrotor

Submitted By

Hazem Mustafa BshenaAlhosiunAlhadiAltrhone

Mohammed Ramadan Dowa

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Supervisor

Othman bensaoud
 Table of contents

Introduction.....................................................................

Project goals.....................................................................

.................................................................. Project Motivations

Methodology....................................................................
Project plane ………………………………………….
 1. Introduction
A quadcopter, also called a quadcopter helicopter,or drones is an aircraft that takes off and is powered by four engines. The quadcopters are classified as rotary
wing aircraft because their takeoffs are derived from four engines. Most of the existing quadcopters today are unmanned aerial vehicles(UAV), meaning that
they do not require pilots on board to be guided, but it needs to be controlled remotely.

the quadcopter has for some years been one of the main tools of the military strategy of police armies around the world. It was in obtaining aerial images,
commercially or in the military area. major television and movie producers have opted to use the quadcopter for aerial imaging. the theme that will be covered
in this work will be modeling and controlling a quadcopter.

2. Project Objectives

 Build a a new design for the quadqaptor from scratch

 Create a mathematical model of the quadcopter

 obtain stability in flying the Quad-rotor flying object.

 Design a control arm from scratch to drive the quadcopter

 Control the aircraft forward ,back world ,left ,right , up and down

 Design and implement PID controller to track the given trajectory

 Design and implement PID to reject any unwanted disturbances

 Study of the electronic speed control unit (ESC) It is the link between the plane's radio receiver and battery station.

 Using the algorithm control environments using Item (Arduino Due).

3. Project motivations
 We are doing this project for the purpose of understanding how to use a quadcopter in scientific research experiments to test and
evaluate new ideas from different Fields, such as the application of the theory of flight control system, and navigation.
 Have advantages for using a quadcopter in multiple tests, and given that this quadcopter combines many disciplines to build it.
 Academics usually work together from Various areas of knowledge to develop aircraft performance, including computer science,
electrical engineering, and mechanical engineering. This is because it is used in many areas of our daily life, including military
uses, photography, journalism, sports, etc.

The expected design for the quadcopter

4. Thesis methodology
The methodology used to implement this project is as follows:

 Search and collect many books and online websites about quadcopter.
 Design a mathematical model and compare measurement results with a one-time simulation.
 System hardware integration (motors, sensors, electrical and mechanical connections, power supply).
 Comparing theoretical results with practical results (measured).
 System testing and checking the quality and accuracy of the product compared to the mathematical model.
5- Project Schedule Plan (Gantt chart)
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