Control System Design for a Monocopter Using Arduino Nano
DOI:
https://doi.org/10.5902/2179460X92172Keywords:
PID, Control system, Reduced-order model, Arduino Nano, Controlled plantAbstract
This paper presents the development and application of an electromechanical control methodology utilizing a reduced-order model, implemented in a real physical system. The chosen plant for validation was a monocopter, controlled via an Arduino Nano microcontroller running a digital PID controller. The methodology employs a simplified mathematical model of the plant, which proved sufficient to design and tune an effective controller, even in the face of nonlinear dynamics and the inherent instability of the system. This approach facilitated prior simulations and controller adjustments, streamlining the implementation process. The development included an analysis of the sensors and actuators, and the use of digital filters such as the moving average filter to mitigate noise in measurement signals. The system demonstrated stability and disturbance rejection capabilities, validating the effectiveness of the proposed approach. The project reinforces the feasibility of applying classical feedback control techniques in mechatronic systems, offering a cost-effective and academically accessible solution with potential applications in autonomous control and robotics.
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