implementation of pd controller in attitude of quadcopter
DESCRIPTION
By adopting DCM for sensor fusion and simple PD-controller, we can control the attitude of quadcopterTRANSCRIPT
The QuadrocopterWith Remote Control over Computer Inter-
faceAnd Indoor Modeling
2013 Spring 설계과제 5 조 - 김유정김병진 , 유택근 , 정혜윤
지도교수 – 김상우 교수님
Objectives
Attitude Control
Sensor Fusion
Simple PID Controller
Position Control
Applications
Indoor modeling
Other related field application
Progress(1) Hardware & Circuit
Reduce Mechanical Noise
Damper + α-gel
Embedded System
Progress(2) Embedded Works
ATMega128
MotorDriver x 4
Accelerometer
Gyroscope
Magnetometer
ATTiny
RC Receiver
Double MPU(ATmega+ATtiny) because Lack of Pe-ripheral
Digital Sensor/Driver to avoid Analog noise
Wireless Zigbee to debug/indicator
Progress(3) Directional Cosine Matrix
Gyroscope
WeightedSum
Σ Σ𝐴𝑡𝑡𝑖𝑡𝑢𝑑𝑒=(𝑟 𝑎 ,𝑝𝑎 , 𝑦𝑎)
PI Feedbac
k
Magnetometer
Accelerometer
Orthogonality
Calibration-+
Transform Sensors Coordinate to match each other
Find Appropriate Values of , , Weighted Sum Encoder + Raw Sensor data fitting in MATLAB
(0.58), (0.001), Weighted Sum()
Progress(3) Directional Cosine Matrix
Encoder(Black)
Blue(Pitch from DCM)
Progress(4) PID Controller & Motor Control
MotorController
Motor 1
Motor 2
Motor 3
Motor 4
𝑅𝐶=(𝑟 𝑅𝐶 ,𝑝𝑅𝐶 , 𝑦𝑅𝐶)
𝐴𝑡𝑡𝑖𝑡𝑢𝑑𝑒=(𝑟 𝑎 ,𝑝𝑎 , 𝑦𝑎)
AttitudeController
Σ-+
Calibrate Sensors Coordinate
Find Appropriate Values of , , Weighted Sum
Need to further Control Algorithm
RC Receiverh𝑇 𝑟𝑢𝑠𝑡
Results
FULL Hardware & Circuit & Embedded
Robust Sensor Fusion Algorithm
Good Attitude Control, But
Youtube Links
Future Works
Hovering
Altitude Control
Position Control
Applications
Indoor modeling
Other related field application
Thank you for listeningReferences
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/24693-ellipsoid-fit