Universidad Manuela Beltrán. Juan David Rodriguez, Sergio Solano.

Diseño Ingeniería Biomédica

DRONE QUADCOPTER PID CONTROL LOW COSTE

Juan David Rodriguez, Sergio Solano

Juanrkortes@gmail.com, Sergiosolano56@gmail.com

Abstract— For investigative of this design area, an to mount cameras and so can take aerial
Arduino PID control was performed for a low-cost photographs of weddings and other social events
quadcoptera Drone with the ability to handle from the
cell by means of a bluetooth module connected to the
drone. The specifications of each component will be
given later.
Key words — Drone, quadcopter, modulo bluetooth,
controlador PID, giroscopio, eje cartesiano, motor
brushes.
I. INTRODUCTION

One of the technologies that can be called and the

attention of all years are the so-called unmanned
aircraft, the small unmanned flying devices that Figure 1. Drone FQ30
can be controlled remotely. In the Royal Academy
of the Spanish Language, the word "drone" refers
to an unmanned aircraft where its handling is II. MARCO TEÓRICO
clearly done remotely or remotely. For this it is
necessary to have different components such as In this work difentes electronic systems were used
motors and controllers starting with the brushless electric motor or
brushless motor which is an electric motor that does
Drones can be used in many tasks that the human not use brushes to make the polarity change in the
cannot or do not want to perform, or are simply too rotor.
dangerous as the exploration or cleaning of toxic
waste, and how could it be otherwise, for military Electric motors used to have a collector or a pair of
purposes. slip rings. These systems, which produce friction,
reduce performance, give off heat and noise, require
During World War II, the US Navy and Navy a lot of maintenance and can produce carbon
began producing drones to identify targets and particles that stain the motor with a powder that can
drones for combat assault. The "aeronautical" also be conductive.
drone also meant as a verb the act of converting or
modifying a piloted aircraft into a remotely piloted
aircraft. In 1966, the media "Helicopter News"
published that the company Kaman had managed
to transform several helicopters to models without
a pilot ("successfully droned several helicopters").
Figure 2. Motor HJ DFD F183 RC Quadcopter.
It is sad to think that thanks to the war there have
been technological developments such as drones
and thanks to this in many areas such as the field
of video and photography have begun to use drones
Universidad Manuela Beltrán. Juan David Rodriguez, Sergio Solano. Diseño Ingeniería Biomédica

Module Bluetooth For the control part an argon is used nano mainly
because of its relation in weight and the elements
Bluetooth is the communication protocol designed that are used for connection.
especially for low consumption devices, which
require a short range of emission and based on low
cost transceivers.

Devices that incorporate this protocol can

communicate with each other when they are within
their reach. The communications are made by
radiofrequency so that the devices do not have to be
aligned and can even be in separate rooms if the
transmission power is sufficient. These devices are
classified as "Class 1", "Class 2" or "Class 3" in Figura 5. Arduino nano.
reference to their transmission power.

III. DEVELOPMENT

The first step was to create a basic and main design

in CAD tool in order to have a main view of how the
DRONE can be.

Figure 3. Module Bluetooth HC-06 Arduino.

The gyroscope is a mechanical device used to

measure, maintain or change the orientation in the
space of some device or vehicle.
The accelerometer allows the device to detect the
orientation and rotate the interface. Manufactured in
silicon, it is the main responsible for detecting the
orientation changes in the terminals, in order that Figura 5. Vista superior drone 1.
they can rotate the content of the screen towards a
vertical or horizontal position.

Figura 4. Module gyroscopic mpu6050

Figure 6. Vista inferior drone 1.
Universidad Manuela Beltrán. Juan David Rodriguez, Sergio Solano. Diseño Ingeniería Biomédica

derived from this technology some branches of

Physical Design of the Mechanism: engineering1 that contribute their knowledge are:
electronics, aeromodelling, programming and
mathematics due to This range of areas involved in
Basically for this part a base was made in cardboard its development have advances in its versatility as
and a can of soda for the body structure and arms well as in the implementations of its architecture.
of the drone
Quadcopteros are flight systems driven by four
helices located around a main body2, the dynamic
action of the forces that act on the system require
mechanisms to stabilize them and control the
interaction in a constant equilibrium.

Each propeller that provides a push has a sense, a

pair rotates in a clockwise sense while two rotate
counter-clockwise9, this movement is controlled by
electronic systems called ESC (Electronic Speed
Figure 7. Drone 1 Control).

The diagram shows the interaction of the input or

signal of the acceleration and gyro sensors of the
drone with the algorithm to be able to stabilize the 3
axes sending the correction to the actuators. These
signals, thanks to current technology, can be
analyzed by microcontrollers2, which
algorithmically analyze the inputs processing data
and evaluating its correction with an adequate
response time. The correction algorithm is based on
the following equation:

The calculations of the error control variables take

Figure 8. Drone 1 into account the power of the motors is 980kv 5.

rpm = kv * volts
rpm = 980 * 11.1 volts

The number of revolutions per minute that you have

in a 980 kv motor as applied in this experiment
would be 10878 rpm.

The value of the revolutions that the motor can reach

is relevant to determine how the output is adjusted
in order to drive the input to the set point6.
Fig7. Blocks diagram 1. Taken from [2].
In this way, it is proposed that the speed control
Mathematical modeling:
signal must reach a total of 6,500 in the PID setting,
which would be the maximum speed reached by the
Drones industry currently has the attention of
engine. To obtain this value in the experiment ten
various areas of engineering, due to the uses
Universidad Manuela Beltrán. Juan David Rodriguez, Sergio Solano. Diseño Ingeniería Biomédica
readings were taken by graphing the values thrown
by the drone sensors.
IV. REFERENCIAS
[1]. W. Voss, A comprehensible guide to servo
motor sizing. Copperhill Media, 2007.
[2]. DATASHEET MOTOR SG90, 1st ed.
TOWER PRO, 2018.
[3]. Datasheet Sensor SHARP
GP2Y0A21YK0F, 1st ed. 2018, pp. 1-5.
[4]. P. San MIguel, Electrónica Aplicada, 2nd
ed. Madrid: Paraninfo, SA, 2016, p. 209.
[5]. A. Hermosa Donate, Principios de
Electricidad y Electrónica, 2nd ed.
Barcelona: Marcombo, 2011, p. 327.
[6]. A. Roldan Aranda, Amplificadores
Operacionales. Comparadores, Universidad
de Granada. [Online]. Available:
http://electronica.ugr.es/~amroldan/asignat
uras/curso08-
09/ftc/temas/Tema_01E_AO_Comparador.
pdf. [Accessed: 9- Mar- 2018].
[7]. J. G. Webster “Medical instrumentation.
Application Design”, ED. John Wiley &
Sons Inc., USA 1998, 607-609.
[8]. Texas Instrumet. LM35 Precision
Centigrade Temperature Sensors. (2018).
Japón.
[9]. J. G. Webster “Encyclopedia Of Medical
Devices and Instrumentation”, ED. John
Wiley & Sons Inc., USA 1988, 1643-1656.
[10]. Castrillón B., Ajito E., Barrios A.,
Solórzano E., Tarrillo J. Burbuja Artificial
Neonatal (BAN). II Congreso Colombiano
de Bioingeniería e Ingeniería Biomédica,
Bogotá, octubre de 2005.