design of an autonomous quadcopter
TRANSCRIPT
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Design of an Autonomous Quadcopter
Faculty Mentor: Dr. Kapseong Ro
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Overview
Introduction
Objective
Components
MATLAB Simulation
Assembly
Software
Flight test video
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Introduction / Background
Aerial vehicle that uses four rotors to lift and control its motion
Utilizes differential thrust about two pairs of counterrotating, fixed-pitch propellers to maneuver
Small size, low cost enabled them to be used in a variety of applications such as exploration, rescue, recreational and military uses.
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Objectives
Build and develop a control system of a quadcopter
Experience hands-on hardware and software integration
Study the challenges related to stability and control
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FramePLA Properties
Physical
Density (1.11 – 1.21) kg/m^3
Mechanical
Young’s modulus (2.3 – 2.6) Gpa
Specific stiffness (1.96 – 2.27) e6 N.m/kg
Yield strength (98 – 200) MPa
Impact 15 – 20%
Processing
Polymer extrusion Acceptable
Durability
Water Acceptable
UV radiation Good
Flammability Highly flammable
Price 3.37 – 4.14 USD/kg
Recycling
Recycle Good
CO2 footprint 1.04 -1.15
Landfill Good
Biodegrade Good
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Component Selection
Item ID Material Mass [kg]
Frame - PLA Plastic 0.15
Motor Emax ECO Series 2207 Steel 0.035
Propeller HQProp Polycarbonate 0.007
Battery RDQ Series Li-po 0.104
ESC Emax BLHeli Series - 0.024
Arduino Uno - 0.028
3-axis accelerometer MPU 6050 - 0
Receiver Spektrum AR620 - 0.004
Total - - 0.5500
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Simulation
Dynamics
Control
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Reference Frames
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State vector
POSITION VELOCITY
ORIENTATION ANGULAR VELOCITY
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Equations
Linear momentum conservation
Angular momentum conservation
Dc motor differential equation
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𝑎 = 1𝑚∗'𝐹
𝑇 = 𝐾 ∗ 𝜔𝑝2
𝐾 =𝐾𝑣𝐾𝜏%2𝜌𝐴
𝐾𝑡
Linear Momentum
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𝜔 =1𝐼∗'𝑀̇
𝜏𝜃 = �̅�𝐾 ∗ [(𝜔12 + 𝜔42) − (𝜔22 + 𝜔32)]
𝜏𝜑 = 𝑦5𝐾 ∗ [(𝜔32 + 𝜔42) − (𝜔12 + 𝜔22)]
Angular Momentum
Roll
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Pitch
𝜏𝜃 = �̅�𝐾 ∗ [(𝜔12 + 𝜔42) − (𝜔22 + 𝜔32)]
𝜏𝜑 = 𝑦5𝐾 ∗ [(𝜔32 + 𝜔42) − (𝜔12 + 𝜔22)]
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Yaw
𝜏𝜓 = 𝑏 ∗ (𝜔22 − 𝜔12 + 𝜔42 − 𝜔32)
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DC motor Electrical-Mechanical differential equation
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Control
Roll Pitch Yaw
Proportional gain 1.0 1.300 4.50
Integral gain 0.04 0.04 0.02
Derivative gain 7.56 18 14.4
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Response
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Assembly
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Software Setup• Calibrate gyro, accelerometer, ESC, throttle, sticks (1000-
2000 μs)
• Declare gains for the PID controller
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Main Loop
• Attitude inputs are filtered to reduce noise.• 96% gyro, 4% accelerometer.• Uses PID controller to calculate the system response to the
error (center – actual).• The ESC pulses are calculated based on these inputs.
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Flight Test• https://www.youtube.com/watch?v=sYFmZU9bEJI
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Questions?