Justification of optimal parameters for quadcopter PID-controllers with frame sizes up to 150 mm

Unmanned aerial vehicles with a frame of up to 150 mm are used in agriculture to solve problems in smart greenhouses. Calculating the values of PID-regulators when optimizing the drone operation allows to reduce the risks of flight controller misadjustment and increase the accuracy of its control in different flight conditions. The aim of the study is to calculate the optimal values` of the PID controllers of the UAV, develop an algorithm for coefficient calculation, and compute the proportional, integrating, and differentiating errors along the deviation axes. The authors have developed a quadcopter with a take-off weight of up to 150 g for monitoring an industrial greenhouse. The mathematical theory of optimal control and stabilization was applied. A research analysis on the optimization of quadcopter flight was carried out. Experimental research in mechanics on adjusting the stability and acceleration of the quadcopter prototype during flight was carried out. Based on the mathematical formula for calculating the control signal, an algorithm was developed to calculate the coefficients and to compute the proportional, integrating, and differentiating errors in the axes of control deviation of the quadcopter’s brushless motors. Optimized settings of the PID-regulator stabilization system in Betaflight Configurator program for stable flight of the quadcopter prototype are selected, taking into account design and technical characteristics. The optimal values of coefficients (Kp, Ki, Kd) on the roll, pitch and yaw axes for the quadcopter prototype under development were justified.