# Performance Evaluation of a Quadcopter by an Optimized Proportional-Integral-Derivative Controller
## 4 Detailed Discussions and Results  
The discussion of the implementation of the proposed improved PID methods is going to be described in this section. In addition, the full hardware skeleton is also introduced. The results of the simulation are also presented. As shown in Figure 5, which includes six main hardware parts for the hardware skeleton of the developed UAV, there is a receiver with #FS-IA6B, a battery with 3200 mah BETA LIPO, four brushless DC motors with A2212/15T/930 KV, a flight controller with Stm32f401 ccu6, a gyroscope/accelerometer with MEMS MPU6050 sensor, and an electronic governor with 30A ZMR, and so on. Hence, the configuration of the UAV is organized by the above-mentioned parts plus a remote control referred to as FLYSKY-16X. In this article, the Java code developed is uploaded to the Stm32f401 ccu6 development platform. The data are simulated using Matlab(r)/Simulink for wave patterns, and the Serial Receive module is deployed to receive the simulated code [31]. As the statement has been announced in the introductory section, the PID architecture proposed in Figure 5 in fact has a linear behavior of the PID. However, the outcomes from the simulation have actually revealed that the proposed method has good performance in terms of accuracy, robustness, finite time convergence, and the robustness of flight activity when it is compared with other PID structure [32]. The previously mentioned proposed PID performance can be proved with the results which were obtained later. The connection diagram for the overall system flow of PID to control a quadrotor UAV is shown in Figure 6. The waveform type uses an integer of 32 bytes, and the flight controller outputs a PWM data response signal, as shown in Figure 7. This module receives the remote control signal from the flight controller to send the PWM signal. It is obvious  
Figure 4: Basic PID architecture simulated in the tool of Proteus®. that the stability of the generated PWM signals is well achieved for the PID controller. That is, the previous statement could be explained by the phenomena that occur on the \(X\) axis and \(Y\) axis, which represent the scales of amplitude and time, respectively. The amplitude always occurs as approximately \(10^{18}\) during the duration of 0 to 5 s, and can remain in a stable state for a long time. The above fact has verified the optimized PID's functionality. Moreover, the simulation of the motor speed response waveform of the \(\text{Stm}^{\oplus}\)\(\text{Stm}32\)f401 cto is also evaluated. In the deployment, the three online measured degrees, YAW, PITCH, and ROLL, are monitored by the \(\text{Stm}32\)f401 cto8 as the block shown in Figure 6. In the surveillance system, these three values are calculated and shown in Figure 8. For example, the roll, pitch, and yaw are displayed as \"1370\", \"448\" and \"-24\", respectively. The \"positive\" and \"negative\" values illustrated in Figure 8 could correspond to indicate the \"forward\" and \"reverse\" directions. The data are helpful in the process of designing the PID controller in the future. On the other hand, the data are useful for recognizing that the quadrotor UAV can be operated under normal control. At the same time, the UAV could arrive at the correct local position and flight direction according to the message shown in Figure 8, which was sent back to the control center. means that there is no doubt that the PWM signal is always kept stable from the starting point of the flight controller to the end. Accordingly, the PWM signals generated from the so-called \"optimized PID\" controller can cause the UAV to operate and work rigidly. Thus, the aforementioned fact has consistently outperformed the performance shown in article [15]. Moreover, the three parameters, which include \(k_{P}\), \(k_{i}\), and \(k_{d}\), are relevant to a PID controller. The comparative item defined as \"rise time\" occurs at different scenarios of the PID models which are divided as PID-1, PID-2, and PID-3.