uav project presentation 1
TRANSCRIPT
Sirindhorn International Institute of Technology
Unmanned Aerial Vehicle Presentation at NECTEC (23-07-2012)Mr. Tanapol PrucksakornMr. Kraingkrai
Under Dr. Kanokvate Tangpimolrat’s and A.Itthisek Nilkchamhaeng’s supervison
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Unmanned Aerial VehicleSirindhorn International Institute of Technology
IntroductionCollecting information from the air is difficult to do nowadays (by airplane, helicopter or satellite).
In Thailand, there are many kind of copters (1 rotor, 3 rotors, 8 rotors and more). But most of them are for entertainment purpose.
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Unmanned Aerial VehicleSirindhorn International Institute of Technology
IntroductionQuadrotor is a copter that has 4 rotors. It was invented in 1920.
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Figure 1: Quadrotor with cover
Unmanned Aerial VehicleSirindhorn International Institute of Technology
IntroductionQuadrotor has 2 rotors rotate in clockwise direction and another 2 rotors rotate in counterclockwise direction, this provides stability in yaw axis.
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Figure 2: Quadrotor Free Body Diagram
Unmanned Aerial VehicleSirindhorn International Institute of Technology
IntroductionThis research project is a sequel from Tricopter(copter with 3 rotors) project in 3rd year.
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Figure 3: Tricopter Project
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Research Plan
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Makes quadrotor fly
Find dynamics model of quadrotor
Simulate in MATLAB (using PID controller)
Implement PID controller
Add inverse dynamics controller
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PID ControllerPID controller is the controller that provides stability mainly based on feedback loop.It uses an error value from input minus output to stabilize the plant.
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PID Controller
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PIDController
DynamicsModel
Sensor
Input (Position) +
-error Output (Thrust)
Position
Current
Figure 4: PID controller
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Inverse Dynamics Controller With PID ControllerThis controller improve the previous controller by add a inverse of plant which is
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This makes the system relies on the feedback loop less than the previous controller.
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Inverse Dynamics Controller With PID Controller
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PIDController
Dynamics Model
Sensor
Input (Position) +
-
error Output (Thrust)
Position
Inverse of Dynamic Model
+
+
Figure 4: Inverse dynamics controller with PID controller
Unmanned Aerial VehicleSirindhorn International Institute of Technology
Equipment List Microcontrollers (Arduino) x 2 Brushless Motors x 4 ESCs x 4 Propellers x 4 IMU Structure (Carbon Fiber, Fiber Glass) Ultrasonic Sensor Infrared Sensor Camera (Kinect) Battery
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Expected Problems Physical
Frame and dimensions Battery and power distribution Hardware calibration Motors ESCs
Control Dynamics model Gain and response Multivariable inputs Inverse Dynamics Controller is not possible for some dynamics
controller Sensors calibration
Image processing Quality Precision
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Timeline
Activity MonthJun Jul Aug Sep Oct Nov Dec Jan Feb Mar
Study Quadrotor
Design and Order partsControl motor
Study Sensor
Camera
Assemble
Test
Summary and Report
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Unmanned Aerial VehicleSirindhorn International Institute of Technology
Video
http://www.youtube.com/watch?v=Y4jtguSF0n4
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Question and Answer
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