Experimental study of brushless motors and MPU6050 using a PID controller

This scientific article discusses aspects of the practical implementation of a PID controller based on the Atmega328 microcontroller. For its implementation, a single-axis experimental stand with the appropriate hardware was developed. A methodology for conducting experiments has been created, as well as an algorithm for the program using a PID controller. During the experiments, pulse width modulation (PWM) signals transmitted by the microcontroller to the motors were recorded for the first time, depending on the control signal generated by the PID controller. It was found that when the rod is deflected by -30 degrees, the right motor is activated with a PWM signal in the range of 1300...1500 microseconds. When tilted in the opposite direction, the signal on the other engine changes in a similar way, reaching values from 1300 to 1500 microseconds. The use of a PID controller ensured automatic alignment and maintenance of the rod at a set angle of 0 degrees, which contributed to the stabilization of the system when operating two brushless motors.