MODELLING , CONTROL AND NAVIGATION OF AN AUTONOMOUS QUADROTOR UAV

(MODELLING AND CONTROL)

SITI FATIRAH BINTI RAMLI 1120486

SUPERVISED BY DR. MOUMEN IDRES

CONTENT OVERVIEW

INTRODUCTION PROBLEM STATEMENT OBJECTIVES LITERATURE REVIEW METHODOLOGY RESULTS CONCLUSION

INTRODUCTION Quadrotor is a symmetrical flying machines which has 4 rotors at

each end of its body frame Quadrotor is a a Vertical Take Off and Landing (VTOL) type landing

machine Quadrotor need a controller in order to fly : PID controller Controller is a heart or brain of quadrotor Function of controller is to give command to quadrotor in order to fly

or doing a mission

PROBLEM STATEMENT A stable quadrotor need a controller to fly The quadrotor is going to perform a better autonomous control The implementation of PID controller will be studied to enhance the

quadrotor stability and maneuverability

 

OBJECTIVES To develop a mathematical modeling of quadrotor To study the controller that used to fly the quadrotor in the air

LITERATURE REVIEWPID Controller LQR Controller

feedback controller

based on the error (e) between desired set point and measured process value

The error is then used to adjust some input to the process in order to its defined set point

LQR is a control scheme

provides the best possible performance with respect to some given measure of performance

Need to design statefeedback controller which minimise the objective function

METHODOLOGY

Parameters identification

Mathematical modeling of quadrotor

Controller of quadrotor

Simulation in Matlab

FYP 1 FYP 2

Through experimental and calculation method The parameters that have been identified are

torque constant ,

moment of inertia around x, y and z axes , and rotor inertia

drag coefficient

mass of quadrotor

length of arm of quadrotor, la

gravity , g

Parameter Identification

Need to establish the frames which are inertial frame and body frame Equations of motions of quadrotor is important as it moves in 6 DoF

Mathematical Modelling of quadrotor

Translational kinematics for doing a transformation matrix as position is describe in inertial frame while velocity is describe in body frame

Rotational Kinematics used in determining the relationship between angular rates and time derivatives of Euler angles

Translational Dynamics used to calculate the value of acceleration ,drag force and resultant force by four rotors in inertial frame

Rotational Dynamics used for to calculate moment of inertia in x, y, z axes

Controller of quadrotor

Simple PID Controller for Quadrotor

Block Diagram of PID Controller for Quadrotor in Simulink

Using a Matlab 2013 for the simulation part Block diagram done in Simulink Coding for the controller being edited in Matlab editor as the coding is

been altered from Mr. WilCelby research on quadrotor controller The coding is altered to meet our desired goal

Simulation in Matlab

Point 1

Point 3Point 4

Point 2

RESULTS

Parameters for quadrotor

Has 3 part for results which are

1. Translational Position PID Controller

2. Altitude/Attitude PID Controller

3. Angular Rate PID Controller

Parameters for quadrotorParameters Value Unit Remarks

3.7 10-3 Nm/A torque constant

 

 

0.1157792

 

 

moment of inertia

 

IR3.357 .10-5 kgm2 rotor inertia

 

cd1 - drag coefficient

 

m 1.4 kg mass of quadrotor

 

la0.36 m length of arm of quadrotor

g 9.81 m/s2 Gravity

RESULTS POINT 1 [ 0 0 0] TO [1 1 -1]

P

where Theoritical value = TranslationalPositionDesired

Experimental value = Simulation output

Percentage error calculation

Percentage error

x

0.16

y 1.71

z 2.16

POINT 2 [ 1 1 -1 ] TO [ 2 1 -1 ]

Percentage error calculation

Percentage error

x

0.33

y

1.28

z

0.33

POINT 3 [ 2 1 -1 ] TO [ 2 2 -1 ]

Percentage error calculation

Percentage error

x 0.7

y 0.125

z 2.56

POINT 4 [ 2 2 -1 ] TO [ 1 2 -1 ]

Percentage error calculation

Percentage error

x 0.36

y 0.31

z 1.37

POINT 5 [ 1 2 -1 ] TO [ 1 1 -1 ]

Percentage error calculation

Percentage error

x 1.25

y 1.99

z 0.14

Angular rate PID Controller

POINT 1 POINT 2

POINT 3 POINT 4

POINT 5

CONCLUSION Objectives have been achieved PID controller is the optimal controller to be used in control

system of quadrotor

THANK YOU