Implementation and Modeling of a Quadrotor

Authors: Ersan Aktas, Eren Turanoğuz

Abstract:

In this study, the quad-electrical rotor driven unmanned aerial vehicle system is designed and modeled using fundamental dynamic equations. After that, mechanical, electronical and control system of the air vehicle are designed and implemented. Brushless motor speeds are altered via electronic speed controllers in order to achieve desired controllability. The vehicle's fundamental Euler angles (i.e., roll angle, pitch angle, and yaw angle) are obtained via AHRS sensor. These angles are provided as an input to the control algorithm that run on soft the processor on the electronic card. The vehicle control algorithm is implemented in the electronic card. Controller is designed and improved for each Euler angles. Finally, flight tests have been performed to observe and improve the flight characteristics.

Keywords: Quadrotor, UAS applications, control architectures, PID.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1124033

References:

[1] I. Dryanovski, R. Valenti, J. Xiao (2013), An Open-Source Navigation System for Micro Aerial Vehicles, Journal of Autonomous Robots, Volume 34, pp 177–188.
[2] D. Mellinger, V. Kumar (2011), Minimum Snap Trajectory Generation and Control for Quadrotors, IEEE International Conference on Robotics and Automation (ICRA), 9-13 May.
[3] W. Burgard, C. Grisetti, C. Stachniss (2013), Improved Techniques for Grid Mapping with Rao-Blackwellized Particle Filters, Journal of IEEE Transaction of Robotics, Volume 23, pp. 34-46.
[4] Shen, N. Michael, V. Kumar (2011), Autonomous Multi-Floor Indoor Navigation with a computationally constrained MAV, IEEE International Conference on Robotics and Automation (ICRA), 9-13 May.
[5] E. Muñoz, A. R. Jiménez, F. de Ponte, F. Zampella (2015), Evaluation of AHRS Algorithms for Inertial Personal Localization in Industrial Environments, IEEE International Conference on Industrial Technology (ICIT), March 17-19.
[6] T.J. Sokira, W. Jaffe (1990), Brushless DC Motors Electronic Commutation and Controls (1st ed.).
[7] Bouabdallah, S. (2013), Design and Control of Quadrotors with Application to Autonomous Flying, Phd Thesis, École Polytechnique Fédérale De Lausanne.
[8] Brezina, T., Jablonski, T., Mechatronics 2013, Recent Technological and Scientific Advances (1st ed.).
[9] Altera FPGA, Cyclone III device handbook. Retrieved from http://www.altera.com/literature/hb/cyc3/cyclone3_handbook.pdf
[10] EPCS Flash, Serial configuration (EPCS) devices datasheet. Retrieved from http://www.altera.com/literature/hb/cfg/cyc_c51014.pdf
[11] GPS Module, u-blox 6 GPS modules. Retrieved from http://www.ublox.com/images/downloads/Product_Docs/LEA-6_DataShe et_%28GPS.G6-HW-09004%29.pdf