Assessment of Quadrotor PID Control Algorithms using six-Degrees of Freedom CFD simulations

The evolution of technology has made increasingly advantageous the introduction of Unmanned Aerial Systems (UASs) in various applications, especially by exploiting their ability for autonomous flight. This paper presents an innovative approach to simulating UAS maneuvers that integrates a Computational Fluid Dynamics (CFD) model and a closed-loop control algorithm for both position and attitude dynamics. We chose the Proportional-Integrative-Derivative (PID) controller for this preliminary research activity because of its simple implementation and widespread employment in commercial autopilot systems. The numerical simulation of the UAS aerodynamics allows for performing an accurate analysis in critical situations. These include, for example, ground effect or wind gusts scenarios, which require an enhanced propulsive model to capture the interaction between vehicle dynamics, aerodynamics, and environmental conditions. The coupled CFD/PID framework can be a virtual testing environment for UAS platforms. Here we report on its validation. The paper compares such an innovative in-the-loop CFD approach and a classical simplified propulsive model that adopts constant thrust and torque coefficients.