Context
My task is to design and build a PID speed controller for a microcapsule than to fly indoors. The room in which the ATV flies is equipped with a camera tracking system with high camera accuracy, which can provide both speed data and position for the ATV. The resulting system should be able to take the target speed for each axis (x, y, z) and drive the ATV with this speed.
The control inputs for the quadcopter are the tilt / tilt / rotation angles and the thrust percentage for altitude.
My idea is to implement a PID controller for each axis, where SP is the desired speed in this direction, the measured value is the speed provided by the tracking system, and the output value is the roll angle / step / rotation angle and, accordingly, the percentage of thrust.
Unfortunately, since this is my first contact with control theory, I am not sure if I am heading in the right direction.
Questions
I understand the basic principle of the PID controller, but it’s still unclear how it can convert speed (m / s) to roll / step / yaw (radian) by adding errors and multiplying by a constant? Yes, speed and roll / step are directly proportional, so does multiplication with the right constant give the correct result?
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