This document summarizes the design, modeling, components, and control strategy of a quadcopter unmanned aerial vehicle. Key aspects include:
1) It uses four propellers powered by brushless DC motors for vertical take-off and landing, with yaw, roll, and pitch control achieved by varying motor speeds.
2) An IMU, microcontroller, and PID controllers provide attitude estimation and motor control.
3) A complementary filter fuses gyroscope and accelerometer data to estimate orientation with drift correction.
4) Wireless transmission of sensor data and live video enable remote control and monitoring of flight.
Design and Implementation of a Quadrotor HelicopterHicham Berkouk
This is a project on building a quadrotor from scratch. From the history; physics and modeling to system hardware and software. The control algorithm is built arround a PID loop. For more details, please feel free to comment or send me an email to: hicham.berkouk@outlook.com
Quadcopters are the rotorcraft which have become the catch of the eye in the UAVs, both for electronic hobbyists as well as various application based real time solutions.
Modeling and Roll, Pitch and Yaw Simulation of Quadrotor.Oka Danil
In this paper, we developed a prototype of a quadrotor and proposes how to model and conduct simulations to investigate the effect of roll, pitch and yaw as the inputs to the outputs of φ, θ and ψ angle in quadrotor. The Euler-Newton formalism is used to model the dynamic system. The simulation results show that, the majority of φ angle is
determined by the roll, most of the θ angle is determined by the pitch, and the ψ angle is determined by the yaw.
Design and Implementation of a Quadrotor HelicopterHicham Berkouk
This is a project on building a quadrotor from scratch. From the history; physics and modeling to system hardware and software. The control algorithm is built arround a PID loop. For more details, please feel free to comment or send me an email to: hicham.berkouk@outlook.com
Quadcopters are the rotorcraft which have become the catch of the eye in the UAVs, both for electronic hobbyists as well as various application based real time solutions.
Modeling and Roll, Pitch and Yaw Simulation of Quadrotor.Oka Danil
In this paper, we developed a prototype of a quadrotor and proposes how to model and conduct simulations to investigate the effect of roll, pitch and yaw as the inputs to the outputs of φ, θ and ψ angle in quadrotor. The Euler-Newton formalism is used to model the dynamic system. The simulation results show that, the majority of φ angle is
determined by the roll, most of the θ angle is determined by the pitch, and the ψ angle is determined by the yaw.
this is about quad-copter component and how we select best for us in this did not analysis about aerodynamics theory and momentum equation. but all basic things are completely explain about quad-copter. circuit diagram also clearly present in this slide. expect all this things applications are describe here
this is about quad-copter component and how we select best for us in this did not analysis about aerodynamics theory and momentum equation. but all basic things are completely explain about quad-copter. circuit diagram also clearly present in this slide. expect all this things applications are describe here
Thrust vector controlled (tcv) rocket modelling using lqr controllerMrinal Harsh
Design and state space modelling of a TCV Rocket using Simulink and Matlab with Gimbal Angle, Angular Velocity and Drift experienced as our control parameters.
- Using LQR control to stabilize the model.
- Support why LQR is used over PID control for TCV Modelling.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Permanent magnet direct current motors (PMDCM) are widely used in various applications such as space technologies, personal computers, medical, military, robotics, electrical vehicles, etc. In this paper, the mathematical model of PMDCM is designed and simulated using MATLAB software. The PMDCM speed is controlled using rate feedback controller due to its ability of improving system damping. To improve the controller performance, it’s parameters are tuned using genetic algorithm (GA) and direct search (DS) techniques. The tuning process based on different performance criteria. The most four common performance criteria used in this paper are JIAE (Integral of Absolute Error), JISE (Integral of Square Error), JITAE (Integral of Time-Weighted Absolute Error), and JITSE (Integral of Time-Weighted Square Error). The results obtained from these evolutionary techniques are compared. The results show an obvious improvement in system performance including enhancing the transient and steady state of PMDCM speed responses for all performance criteria.
Optimal and pid controller for controlling camera’s position in unmanned aeri...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using MATLAB technique and the results displayed graphically, also PID controller was designedand simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
The Application of Gyro in Vehicle Angle MeasurementIJRES Journal
The traditional angle sensor in angle measurement of vehicle has some disadvantages such as low stability, low reliability and anti-interference ability. Based on inertiadeviceshas a high sensitivity and little affected by magnetic interference in the measurement of angle .It does not rely on external information and stability advantages. Using gyroscopes, is developed to replace the traditional method for measuring the angle of angle sensor for vehicle, and random error in measurement results are filtered. The programme uses a CRS03-04S gyro, installed on the vehicle front wheel shaft, used to measure the angular speed of the front wheels, in order to calculate the actual angle of the front wheels. Finally, using Kalman filtering to deal with the random error in measurement results separately, so as to provide accurate real-time information around the corner on the steering control. Experimental results show that thisprogramme than with traditional sensor has better stability, reliability, and timeliness, but also is more accurate.
Optimal and Pid Controller for Controlling Camera's Position InUnmanned Aeria...Zac Darcy
This paper describes two controllers designed specifically for adjusting camera’s position in a small
unmanned aerial vehicle (UAV). The optimal controller was designed and first simulated by using
MATLAB technique and the results displayed graphically, also PID controller was designedand
simulatedby using MATLAB technique .The goal of this paper is to connect the tow controllers in cascade
mode to obtain the desired performance and correction in camera’s position in both roll and pitch.
MODELING AND DESIGN OF CRUISE CONTROL SYSTEM WITH FEEDFORWARD FOR ALL TERRIAN...csandit
This paper presents PID controller with feed-forward control. The cruise control system is one
of the most enduringly popular and important models for control system engineering. The
system is widely used because it is very simple to understand and yet the control techniques
cover many important classical and modern design methods. In this paper, the mathematical
modeling for PID with feed-forward controller is proposed for nonlinear model with
disturbance effect. Feed-forward controller is proposed in this study in order to eliminate the
gravitational and wind disturbance effect. Simulation will be carried out . Finally, a C++
program written and feed to the microcontroller type AMR on our robot
5. An aircraft that is lifted and propelled by four
propellers.
Control and maneuvering is achieved by
varying the relative speeds of the four
rotors.
Vertical Take Off and Landing
7. PRO-E simulation was used to determine:
Dimensions of the craft (0.25 m).
Total mass (1.5 kg) of the PVC structure
Moment of inertia (0.025 kg.m2) .
Propeller size (9 inch).
The results obtained enabled us to select a suitable BLDC motor for the
quad rotor.
9. BLDC motor - out runner (the outer shell spins) is used
Specifications:
Weight: 56g
Voltage: 10V
KV: 1200 RPM/V
Max Efficiency Current: 15.5A
Max Power out: 180W.
An electronic speed controller (ESC) is used
to control the speed of electric motors.
It is a pulse-width modulation (PWM) controller
Turnigy Bell 2409-18T
10. Two 2200mAh 3S 25C Lipo Packs and a separate
battery used for electronic circuitry.
Size: 9 x 5
Clockwise and Counter-Clockwise orientation.
11. dsPIC 30f5015 motor control series microcontroller
for onboard computation.
All calculations were done in fixed point (signed Q15.16)
Capable of providing 4 simultaneous independent PWM’s
dsPIC features, hardware multiplier, 16 bit architecture
Operating with a clock multiplier to obtain 14MIPS.
13. IMU data is corrupted and has to be filtered to make it usable.
Gyro integration gives orientation but drifts over time.
14. Accelerometer gives the gravity vector.
Integration of rate gyros gives attitude.
Noise in gyros:
Offset
White noise
Leads to drift
The ‘g’ reference vector from the accelerometer is used to correct this drift
15. The gyro is integrated to give the roll and pitch.
obtain the calculated ‘g’ vector.
The error between the measured and calculated ‘g’ vector is adjusted into the
gyro data.
Gyroscope
(rad/unit time)
Compensation
Roll/Pitch
angle
Accelerometer
(rad/unit time)
Error PID
Cross Product
Integration
Estimated ‘g’
vector
17. Two options for orientation estimation
The Complimentary Filter:
does not require the system model
is optimized for microcontroller implementation
performance is comparable to the Kalman Filter
Kalman filter Complimentary filter
18. PID controller was used for roll and pitch control.
Larger P leads to faster response,
I used for reference tracking
D dampens the oscillations, reduces overshoot
A simulation was done using the mathematical model in MATLAB.
The gains found were fine tuned on the actual system
19. Objective:
Sensing translation in X- axis
Sensing translation in Y- axis
Yaw computation
20. Wireless camera over IP are very expensive.
Camera of the smart phone was used for live streaming.
Bluetooth link was used between the camera and the base station.
A Red Cross of the ground was used as reference for determining
the position of the craft.