modelling & control of a quadrotor

8/4/2019 Modelling & Control of a Quadrotor

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Modelling & Control

Of A Quadrotor


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Objectives

Dynamic modelling of a quadrotor : the goal isto obtain a model which is consistent with areal quadrotor operation

System control : where the aim is to useunderstanding of quadrotor dynamics tocontrol its attitude ( pitch, roll and yawangles) and altitude


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How A Quadrotor Works?Physical Configuration

Aerial vehicle

4 fixed pitch propellers,arranged around CoG

1 pair rotates clockwise,another pair anti-clockwise

The force and momentsgenerated by propeller thrustseffect the motion and attitudeof the quadrotor.

Thrust and momentsproduced by each propeller ismanipulated to achieverequired manouvre


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Climb & Descent


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Forward Backward & SidewardMotion


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Yawing Motion


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Quadrotor Modelling


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Quadrotor Modelling


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Verification of Model

Test 1: Climb

Expected Results:1. Quadrotors altitude stabilizes at 10metres2. No Roll, Pitch or Yaw Angle3. No horizontal motion (X and Y Axes)

Test Results


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Test 2: Pitch/ Roll

Expected Results:1. Quadrotors altitude stabilizes at

10 metres2. Roll Angle setlles at 1 degree3. No Pitch and Yaw Angle4. Horizontal Motion in Y-axis5. No Horizontal Motion in X-axis

Test Results


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Test 2: Pitch/ Roll

Expected Results:1. Quadrotors altitude stabilizes at

10 metres2. Roll Angle setlles at 1 degree3. No Pitch and Yaw Angle4. Horizontal Motion in Y-axis5. No Horizontal Motion in X-axis

Test Results


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Control ProblemTest Manoeuvre:1. Stabilize altitude at 10 meters2. Then hold 20 degree roll

Test Results:


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Control MechanismRequired Thrust force to keep preserve altitude,

Required Propeller Thrust for manouveres, with pz being control parameter,for descend and climbing manouvres,


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Control Mechanism


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Remarks

Conclusions1. The model gives a good representation of real quadrotor dynamics2. The altitude hold controller is show to be effective through testing3. The angular attitude controllers are also shown to be working through tests4. The 3 aims of this investigation have been achieved

Further Work & Improvements1. Include effect of wind turbulence in model, to test robustness of controllers2. Include aerodynamic drag on body and propellers3. Implement normal force4. Include effects of blade flapping

modelling & control of a quadrotor

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