Parameter Tuning for Quad-rotor PID Control System Based on Optimal Latin Hypercube and PSO Algorithm

Based on Optimal Latin Hypercube Design (Opt LHD) method and Particle Swarm Optimization (PSO) algorithm, this article presents a method for tuning PID control parameters of quad-rotor. Firstly, the range of 15 PID parameters are obtained by experience. Within the range of the PID parameters, Opt LHD method is applied to get few but evenly distributed test point groups, thus the adjustment work is reduced. Then, experiments for these PID test point groups are conducted and test results are used to establish response surface model (RSM). Finally, optimal PID parameter combinations are solved based on PSO Algorithm in this RSM. This method solves the following problems: 1. large quantity of aimlessly repetitive tuning work; 2.getting global optimum PID parameters combinationswith personal experience. The final experiment results have been applied to quadrotor andthe validity of this method is proved.