On the choosing problem of PID controller parameters for a quadrocopter

At present, quadrocopters are widely used. Therefore, the problems of controlling quadrocopters in real operating conditions, including emergency modes, are of particular interest. This is due to various weather conditions, restrictions on the landing place (the presence of water surface and other obstacles). So the stabilization problem is considered in this paper. To stabilize the apparatus in three planes, it is proposed to use three PID controllers. The parameters choice in this case has features related to the basic technical and geometric characteristics of the quadrocopter. The modeling results of the real time stabilization are presented. Some recommendations of simplification of the empirical choosing of PID controller parameters depending on the possibilities of the flight controller are given.