Description: The article analyzes the existing PID controllers, their uses; is a block diagram of a PID controller system designed to control engine speed; considered the implementation options for proportional, proportional-integrated and proportionalintegrated differential controllers, described the composition of the experimental setup, the study was conducted using sensors YL-63 and KY-032, described the advantages and disadvantages of using these sensors; describes the algorithm of the PID controller using parallel threads, where the main program is executed in the first stream, the timer interrupt handler function to get the setpoint speeds in the first stream, the timer interrupt to get the actual speed in the third one, in the fourth handler of the PID controller running at a predetermined frequency of 100 Hz; the results are given for a proportional controller, PD controller, PID controller and a system without a controller, used to automate the control of an unmanned aerial vehicle; the use of a PID controller, which processes data from an obstacle sensor, is justified for using it while maintaining a constant number of engine revolutions when changing the screw angle; an algorithm for finding the coefficients for each component of the PID controller is also given; the coefficients were tested on an experimental setup. The controller effectively carries out the work of maintaining a predetermined number of revolutions of the engine with variable pitch propeller, which is confirmed by smooth transitions shown on the graphs of changes in the number of revolutions during a screw pitch change, this allows the system to be used in real conditions, since the system’s response time to a screw angle change is very short allows you to respond to control actions with a minimum delay.
Keywords: PID controller, drone, Arduino, save the specified number of engine revolutions, variable pitch screw, obstacle sensor, Hol sensor
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