Design and Implementation of Quadcopter Controller
Amira Hosny Abbas Abouzied;
Abstract
Unmanned Air vehicles (UAV) are increasingly popular platforms, due to the absence of pilot onboard that make it very useful when the environment is inaccessible, hard to reach or dangerous for manned aircraft. Vehicles with ability to take off and land vertically, to perform hover flight as helicopters are considered ideal vehicles because of their capabilities of vertical takeoff and landing, which can be used in small-area monitoring, building exploration, surveillance and rescue mission.
Despite the real progress made, researchers must still deal with serious difficulties, related to the control of such systems, particularly, in the presence of atmospheric turbulences. In addition, the navigation problem is complex and requires the perception of an often constrained and evolutionary environment, especially in case of low altitude flights.
This thesis presents a detailed mathematical model for a Vertical Takeoff and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) with four horizontal rotors and no tail rotor known as the quadcopter. The controller design of quadcopter is a challenging task as it has four actuators controlling its flight in six degrees of freedom so it is an under-actuated and dynamically unstable system.
The focal point of this thesis is the design of a control law for quadcopter. This leads to derivation of the mathematical nonlinear model followed by linearization of this model around trim points to serve as basis for the design of quadrotor controller. Motor speed is controlled to increase system stabilization. Three control approaches based on classical PID controller to control the quadcopter altitude are introduced. The three approaches are nested loops P, PD, PID whose parameters are tuned using three different tuning methods. The first approach is Ziegler-Nicols tuning. The second approach is based on Integral Time of Absolute Error
VII
(ITAE) index. The third approach is an interactive tool based on MATLAB package.
A prototype has been implemented for measuring rotor dynamics which is used in modeling the quadcopter to design its controller. The performance of introduced control methods and tuning approaches is evaluated and compared by simulation. The performance is compared in terms of stability and response time.
Despite the real progress made, researchers must still deal with serious difficulties, related to the control of such systems, particularly, in the presence of atmospheric turbulences. In addition, the navigation problem is complex and requires the perception of an often constrained and evolutionary environment, especially in case of low altitude flights.
This thesis presents a detailed mathematical model for a Vertical Takeoff and Landing (VTOL) type Unmanned Aerial Vehicle (UAV) with four horizontal rotors and no tail rotor known as the quadcopter. The controller design of quadcopter is a challenging task as it has four actuators controlling its flight in six degrees of freedom so it is an under-actuated and dynamically unstable system.
The focal point of this thesis is the design of a control law for quadcopter. This leads to derivation of the mathematical nonlinear model followed by linearization of this model around trim points to serve as basis for the design of quadrotor controller. Motor speed is controlled to increase system stabilization. Three control approaches based on classical PID controller to control the quadcopter altitude are introduced. The three approaches are nested loops P, PD, PID whose parameters are tuned using three different tuning methods. The first approach is Ziegler-Nicols tuning. The second approach is based on Integral Time of Absolute Error
VII
(ITAE) index. The third approach is an interactive tool based on MATLAB package.
A prototype has been implemented for measuring rotor dynamics which is used in modeling the quadcopter to design its controller. The performance of introduced control methods and tuning approaches is evaluated and compared by simulation. The performance is compared in terms of stability and response time.
Other data
| Title | Design and Implementation of Quadcopter Controller | Other Titles | تصميم و تنفيذ متحكم لمروحية ذات أربع محركات | Authors | Amira Hosny Abbas Abouzied | Issue Date | 2015 |
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