Projeto e implementação de um sistema didático para o estudo da estabilidade de um drone com um grau de liberdade

Abstract

This work presents the development of a didactic test bench focused on studying the stability of dynamic systems through a one-degree-of-freedom drone prototype. The physical structure was designed in a cross format, with two BLDC motors and propellers mounted at the ends of the competing bar, which allows control of the structure’s rotational movement (roll). Angular inclination measurement was initially performed using the MPU6050 inertial sensor, but due to significant noise presence, an optical incremental encoder with high resolution was chosen, which demonstrated greater stability and precision. The system control was implemented with a PID controller, whose parameter tuning was performed experimentally. The remote control interface was developed using an ESP32 microcontroller. It performs wireless transmission of controller parameters and angular reference, in addition to displaying the configured variables on a LCD. Communication between the remote control and the structure was performed using the ESP-NOW protocol. The system allows remote and real-time adjustment of the Kp, Ki and Kd parameters, and offers two operating modes: automatic control with PID and manual motor control. Experimental tests demonstrated the system’s effectiveness in reference tracking, with better performance when using the encoder. The developed prototype proves suitable for didactic purposes, with potential for modular expansion and future application in control and automation disciplines.