Download - Design of an Autonomous Quadcopter
Design of an Autonomous Quadcopter
Faculty Mentor: Dr. Kapseong Ro
Overview
Introduction
Objective
Components
MATLAB Simulation
Assembly
Software
Flight test video
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.
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
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
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
Simulation
Dynamics
Control
Reference Frames
State vector
POSITION VELOCITY
ORIENTATION ANGULAR VELOCITY
Equations
Linear momentum conservation
Angular momentum conservation
Dc motor differential equation
𝑎 = 1𝑚∗'𝐹
𝑇 = 𝐾 ∗ 𝜔𝑝2
𝐾 =𝐾𝑣𝐾𝜏%2𝜌𝐴
𝐾𝑡
Linear Momentum
𝜔 =1𝐼∗'𝑀̇
𝜏𝜃 = �̅�𝐾 ∗ [(𝜔12 + 𝜔42) − (𝜔22 + 𝜔32)]
𝜏𝜑 = 𝑦5𝐾 ∗ [(𝜔32 + 𝜔42) − (𝜔12 + 𝜔22)]
Angular Momentum
Roll
Pitch
𝜏𝜃 = �̅�𝐾 ∗ [(𝜔12 + 𝜔42) − (𝜔22 + 𝜔32)]
𝜏𝜑 = 𝑦5𝐾 ∗ [(𝜔32 + 𝜔42) − (𝜔12 + 𝜔22)]
Yaw
𝜏𝜓 = 𝑏 ∗ (𝜔22 − 𝜔12 + 𝜔42 − 𝜔32)
DC motor Electrical-Mechanical differential equation
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
Response
Assembly
Software Setup• Calibrate gyro, accelerometer, ESC, throttle, sticks (1000-
2000 μs)
• Declare gains for the PID controller
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.
Flight Test• https://www.youtube.com/watch?v=sYFmZU9bEJI
Questions?