PID Position Control System Design for 2 DOF Propeller Pendulum Actuated by Four Motors

In this paper, PID controller simulations for propeller pendulum systems actuated by single, double and four motors are investigated. PID controllers are designed for angular position control of a nonlinear propeller pendulum systems. Single propeller pendulum and double propeller pendulum systems have one degree of freedom. Also, four propeller pendulum system has two degrees of freedom. Propeller pendulum systems are actuated by the thrusts forces that are generated by four propellers at its free end and driven by PID controller. In this study, the mathematical models are obtained for single, double and four propeller pendulum systems, respectively. On the other hand, instead of the equations of motion of the system, the mechanical models are also used for control simulations. Results are compared with each other.