3D.

Conception
Introduction
The project focuses on developing a comprehensive flight control system for a drone,
specifically concentrating on a single axis. This involves both software and hardware
components to ensure stability and precise control. The primary control mechanism
employed is the PID (Proportional, Integral, Derivative) controller, which is crucial for
maintaining equilibrium and correcting deviations caused by external disturbances, thereby
ensuring the drone's stability.

Key Objectives:

1. PID Controller Implementation:

 Utilize the PID controller algorithm to manage the drone's orientation and
stabilize it at the equilibrium position.

 Implement proportional, integral, and derivative components to respond

effectively to disturbances and maintain stability.

2. Equilibrium Position Maintenance:

 Develop algorithms that enable the drone to return to its equilibrium position
autonomously.

 Address perturbations and disturbances in real-time to correct the drone's

orientation and maintain stability.

3. Motor Brushless Speed Control:

 Control the speed of each brushless motor to manage the drone's direction.

 Implement algorithms to dynamically adjust motor speeds based on desired

drone movements and user inputs.

4. Error Correction:

 Establish mechanisms to identify and fix errors in the drone's orientation or

position.

 Integrate error correction algorithms to ensure precise control and

responsiveness to external factors.

Overall, the project aims to create a robust flight control system that combines software
algorithms, such as PID controllers, with hardware components to achieve stability,
autonomy, and precise control over the drone's movements along a single axis. The ability to
respond to disturbances and correct errors in real-time will be crucial for ensuring a safe and
reliable drone operation.

Hardware component :
1. ESP32/Arduino:

 Utilize ESP32 or Arduino as the main microcontroller to process data and

generate PWM (Pulse Width Modulation) signals for controlling the speed of
the brushless motors.

 Implement the necessary firmware to interface with sensors and execute

control algorithms.

2. Brushless Motors + ESC (Electronic Speed Controller) + Propellers (Elis):

 Employ brushless motors as the main propulsion system for the drone.

 Use ESCs to regulate the speed of the motors, providing fine control over the
drone's movements.

 Select appropriate propellers (elis) for efficient thrust generation.

3. MEMS Sensors:

 Integrate MEMS (Micro-Electro-Mechanical Systems) sensors, such as

accelerometers and gyroscopes, to detect and measure the drone's position
and orientation.

 These sensors provide real-time data on the drone's movement, enabling the
PID controller to make precise adjustments.

4. Lithium Battery (12V):

 Power the entire system with a 12V lithium battery.

 Ensure the battery capacity is sufficient to support the drone's operation for
the desired duration.

5. BMS (Battery Management System):

 Implement a BMS to ensure the safety and longevity of the lithium battery.

 Monitor parameters such as voltage, current, and temperature to prevent

overcharging, over-discharging, and overheating.
  Provide protection mechanisms and balance charging to maximize the
battery's lifespan.

With these hardware components, the system can effectively control the drone's stability
and movement along a single axis using the PID controller while ensuring the safety and
optimal performance of the entire setup through the BMS and other integrated
components.

Software Algorithm Overview:

1. PID Controller Algorithm:

 Implement the Proportional, Integral, and Derivative components of the PID

controller to stabilize the drone and maintain its equilibrium position.

 Tune the PID gains to achieve the desired balance between stability and
responsiveness.

2. Sensor Data Processing:

 Acquire data from MEMS sensors (accelerometer and gyroscope) to

determine the drone's position and orientation.

 Filter and process sensor data to reduce noise and improve accuracy.

3. Speed Control Algorithm:

 Develop an algorithm to convert the drone's desired orientation or position

into motor speed commands.

 Adjust the PWM signals sent to the ESCs based on the PID controller's output
and the drone's orientation.

4. Error Correction and Autonomous Stability:

 Implement algorithms to detect and correct errors in the drone's position or

orientation.

 Enable autonomous stability by continuously monitoring sensor data and

applying corrections to counteract external disturbances.

5. Communication Protocol:

 Establish a communication protocol between the microcontroller

(ESP32/Arduino) and MEMS sensors to exchange real-time data.
  Ensure reliable communication with the ESCs to control motor speeds based
on the calculated commands.

6. Battery Management Algorithm:

 Develop algorithms within the BMS to monitor battery parameters (voltage,

current, temperature).

 Implement safety features to prevent overcharging, over-discharging, and

overheating.

 Enable balance charging to maintain uniform cell voltages in multi-cell lithium

batteries.

7. User Interface (Optional):

 Implement a user interface if required, allowing users to input desired drone

movements or monitor system status.

 Provide feedback on battery levels, motor speeds, and any potential errors.

8. Error Handling and Fault Tolerance:

 Include robust error handling mechanisms to address unexpected situations.

 Implement fault tolerance measures to ensure the system can recover from
errors and continue normal operation.

9. Testing and Tuning:

 Conduct extensive testing to validate the system's stability, responsiveness,

and safety features.

 Fine-tune PID gains, sensor data processing, and other parameters to

optimize performance.

10. Documentation:

 Thoroughly document the software architecture, algorithms, and parameters

for future reference and maintenance.

By combining these software algorithms, the drone control system can effectively stabilize
itself, respond to user inputs or external disturbances, and ensure the safe and efficient
operation of the drone along a single axis. Continuous testing and tuning are essential to
achieve optimal performance.