Comment by eduardo on December 31, 2011 at 9:59pm

Dont forget this :

Disadvantage

1:Experiment can be time consuming

2:Can venture into unstable regions while testing the P controller, which could cause the system to become out of control

I do some pid tunning using this metod some year ago and i can SAY: Its very dangerous.

Take too much care with this metod is you not know anything about PID.

Attach the copter to a gimbal to make this.

Comment by Alfred Riopel on January 2, 2012 at 8:09am

I kinda like this in general. I don't like that it is unrestrained. If the pivot axis was mounted firmly then I would feel more comfortable applying power and control inputs. I can see where it would allow quicker pid adjustments if it was connected to the computer while testing.

Comment by marc.kulhavy on January 2, 2012 at 8:26am

I agree with you, Alfred. The pivot should be somehow fixed solidly to allow higher thrust levels.

Meanwhile after some reading about this Ziegler-Nicols-Method, I find it only half usefull.

One good thing is: your get familiar with PID-Systems. Another good thing is that you find the Pmax for your copter.

The disatvantage of this method seems to be, that it's very theoretical and real life always differes from theory...

So I found another very good tutorial that shows a very practical way of tuning in PID-values for stabilize and rate modes:

http://www.rcgroups.com/forums/showthread.php?t=1521520

This seems to lead in the right way by understanding the theory and transfering it into reality.

Greets

Marc

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