Response Behavior of a Control System for a Single-Beam Twin-Propeller Vertical Balancing Flight Model Using a P, PI, PD, and PID Controller

Abstract

This research aims to develop a single-beam twin-propeller vertical balancing flight model and compare the response behaviors of the system controlled by four controller types: P, PI, PD, and PID controllers. In the experiments, the beam equilibrium position was set to 90°.  The response tests were then conducted at reference angles of 110°, 120°, and 130°. The system performance was evaluated in terms of overshoot, settling time, and steady-state error. At the reference angle of 110 °, the PD controller provided the best overshoot performance, with an overshoot of 0.50%, a settling time of 2.01 s, and a steady-state error of 0.55 °. Meanwhile, the PID controller produced an overshoot of 1.86%, a settling time of 2.43 s, and a steady-state error of 1.90 °. At the reference angle of 120 °, the PD controller achieved the lowest overshoot of 0.41%, with a settling time of 4.02 s and a steady-state error of 0.45 °. At the reference angle of 130 °, the PD controller produced an overshoot of 3.73%, a settling time of 1.15 s, and a steady-state error of 4.10 °. The PID controller produced an overshoot of 6.04%, a settling time of 2.97 s, and a steady-state error of 3.20 °. The experimental results show that the PD controller is the most suitable for reducing overshoot and achieving a fast response, while the PID controller can compensate for steady-state error.