By adopting DCM for sensor fusion and simple PD-controller, we can control the attitude of quadcopter

1. The Quadrocopter
With Remote Control over Computer Interface
And Indoor Modeling
2013 Spring 설계과제 5조 - 김유정
김병진, 유택근, 정혜윤
지도교수 – 김상우 교수님

2. Objectives
 Attitude Control
 Sensor Fusion
 Simple PID Controller
 Position Control
 Applications
 Indoor modeling
 Other related field application

3. Progress
(1) Hardware & Circuit
 Reduce Mechanical Noise
 Damper + α-gel
 Embedded System

4. Progress
(2) Embedded Works
ATMega128
Motor
Driver x 4
Accelerometer
Gyroscope
Magnetometer
ATTiny
RC Receiver
 Double MPU(ATmega+ATtiny) because Lack of Peripheral
 Digital 𝐼2
𝐶 Sensor/Driver to avoid Analog noise
 Wireless Zigbee to debug/indicator

5. Progress
(3) Directional Cosine Matrix
Gyroscope
Weighted
Sum
Σ Σ
𝐴𝑡𝑡𝑖𝑡𝑢𝑑𝑒 = (𝑟𝑎, 𝑝 𝑎, 𝑦𝑎)
PI
Feedback
Magnetometer
Accelerometer
Orthogonality
Calibration
-
+
 Transform Sensors Coordinate to match each other
 Find Appropriate Values of 𝐾 𝑝, 𝐾𝑖, Weighted Sum
 Encoder + Raw Sensor data fitting in MATLAB
 𝐾𝑝(0.58), 𝐾𝑖(0.001), Weighted Sum(Wrp = 0.995)

6. Progress
(3) Directional Cosine Matrix
 Encoder(Black)
 Blue(Pitch from DCM)

7. Progress
(4) PID Controller & Motor Control
Motor
Controller
Motor 1
Motor 2
Motor 3
Motor 4
𝑅𝐶 = (𝑟𝑅𝐶, 𝑝 𝑅𝐶, 𝑦 𝑅𝐶)
𝐴𝑡𝑡𝑖𝑡𝑢𝑑𝑒 = (𝑟𝑎, 𝑝 𝑎, 𝑦𝑎)
Attitude
Controller
Σ
-
+
 Calibrate Sensors Coordinate
 Find Appropriate Values of 𝐾 𝑝, 𝐾𝑖, Weighted Sum
 Need to further Control Algorithm
RC Receiver
𝑇ℎ𝑟𝑢𝑠𝑡

8. Results
 FULL Hardware & Circuit & Embedded
 Robust Sensor Fusion Algorithm
 Good Attitude Control, But
Youtube Links

9. Future Works
 Hovering
 Altitude Control
 Position Control
 Applications
 Indoor modeling
 Other related field application

10. Thank you for listening
References
 William Premerlani and Paul Bizard, “Direction Cosine
Matrix IMU: Theory ”, May 2009
 Nguyen Ho Quoc Phuong and Hee-Jun Kang, “A DCM
Based Orientation Estimation Algorithm with an Inertial
Measurement Unit and a Magnetic Compass”, Feb 2009
 Compass Calibration
 http://www.vectornav.com/support/library?id=83
 Ellipsoid fitting
 http://www.mathworks.com/matlabcentral/fileexchange/246
93-ellipsoid-fit