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Stability Comparison

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Uploaded by on Jun 2, 2009

Since the quad-rotor is tethered, it's important to compare the controller performance when the motors are off and when the motors are on. Here, the motors are off and the system is perturbed -- you can see the system oscillate for quite some time, had I not stopped it. When the throttle is on at 25%, instabilities arise in the system because the controller does not have enough authority. At 50% throttle, the system is stable with the help of increased gyroscopic effect from the rotors.

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  • I think you should decrease the D then increase the I value if you are using PID control.

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