I am using PID controller to stabilize quadcopter. Its working well on the jig. But when I removed jig it went up and hit ceiling. I analyzed my data and from which I come to the conclusion that at static poisition my gyro sensor is outputing +-6deg/sec but when I start motors (without being control in) gyro rate jupms to +-30deg/sec. This increase in rate due to vibrational noise is causing quadcopter to liftup without beign my intension. Any suggestions to get rid from this vibrational noise?
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$\begingroup$ What axis is the gyro sensor measuring? $\endgroup$– IanNov 11, 2014 at 22:07
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$\begingroup$ roll and pitch axis $\endgroup$– arshad mahmoodNov 13, 2014 at 10:38
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$\begingroup$ What are you using to control desired/actual altitude? $\endgroup$– IanNov 13, 2014 at 18:01
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$\begingroup$ I am using PID control $\endgroup$– arshad mahmoodNov 20, 2014 at 4:25
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$\begingroup$ Sorry... I meant what sensor are you using to measure altitude so that you can control it. $\endgroup$– IanNov 20, 2014 at 16:17
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2 Answers
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You could probably use a low pass filter to eliminate the vibrational noise.
You should also correct the drift in your gyro measurement using some form of altitude sensor.
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$\begingroup$ when I used low passfilter, it actually attenuating actual signal and i am loosing control. Noise is remove but actually low pass filter delays the output to one previous step. I am correcting that drift using accelerometer. $\endgroup$ Nov 11, 2014 at 4:13
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$\begingroup$ Low pass filtering is not working here. $\endgroup$ Nov 11, 2014 at 4:13
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I recommend you to use a kalman filter if you want to remove the noise without disfiguring the usefull part of the gyroscope's signal.
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$\begingroup$ Even though the actual algorithm of Kalman Filter is simple, meeting the requirements of the filter is not easy besides the model must be specified accurately. $\endgroup$– CroCoJan 12, 2015 at 11:22