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In this paper, a hybrid procedure of tuning the control structure of a newly developed multirotor aerial platform is presented. Such situation presents a demanding task because there are no initial parameters of PID controllers ensuring safe flight conditions. Most methods base on full mathematical models which can be divergent from the real plant and require a process of detailed system’s identification. The second area of solutions utilises different types of test benches to perform trial and error tuning in safe conditions. A method presented in this article comprises a hybrid approach connecting both practices. The key element in this solution is a model of the implemented propulsion system and physical parameters of the airframe itself obtained from the CAD software. System noise variances are gathered from experiments on the test bench and implemented in appropriate simulations. Next, the optimisation can be executed to gather parameters for every constituent controller. Finally, verification in real conditions is performed. The presented method was used for the development of two significantly different multirotor UAVs during the pre-flight PID control tuning phase. An approach is versatile for both symmetrical and unsymmetrical heterogeneous airframes.

Initial Tuning Procedure for Attitude and Vertical Movement Controllers in Multirotor Aerial Vehicles with Heterogeneous Propulsion Units